* Get value at given grid coordinate * @param rGrid grid coordinate * @return value */

* Returns the y-coordinate * @return the y-coordinate of the pose */

* Returns the x-coordinate * @return the x-coordinate of the pose */

* Sets value of parameter * @param rValue */

* Gets the parameter manager of this dataset * @return parameter manager */

* Returns the heading of the pose (in radians) * @return the heading of the pose */

* Converts degrees into radians * @param degrees * @return radian equivalent of degrees */

* Gets the object associated with this vertex * @return the object */

* Checks whether two numbers are equal within a certain tolerance. * @param a * @param b * @return true if a and b differ by at most a certain tole

/

* Gets the height of the grid * @return height of the grid */

* Gets the width of the grid * @return width of the grid */

* Get scan manager for id * @param rSensorName * @return ScanManager */

* Round function * @param value * @return rounds value to the nearest whole number (as double) */

* Gets pointer to data at given grid coordinate * @param rGrid grid coordinate * @return grid point */

* Sets the x-coordinate * @param x the x-coordinate of the pose */

* Sets the y-coordinate * @param y the y-coordinate of the pose */

Returns the dim'th component of the idx'th point in the class:

* Returns a string representation of this name * @return string representation of this name */

* Gets barycenter if the given parameter is true, otherwise returns the scanner pose * @param useBarycenter * @return barycenter if parameter is

* Set bounding box maximum */

* Set bounding box minimum */

* Return the squared distance between two Pose2 * @return squared distance */

* Computes the position of the sensor * @return scan pose */

* Converts the point from world coordinates to grid coordinates * @param rWorld world coordinate * @param flipY * @return grid coordinate

Helper accessor to the dataset points:

* Gets the coordinate converter for this grid * @return coordinate converter */

* Get the size as a Size2<kt_int32s> * @return size of the grid */

* Sets this matrix to identity matrix */

* Set the number of range readings based on the minimum and * maximum angles of the sensor and the angular resolution */

* Gets the grids bounding box * @return bounding box */

* Gets the resolution * @return resolution */

* Gets scan from given device with given ID * @param rSensorName * @param scanNum * @return localized range scan */

* Gets the target vertex * @return target vertex */

* Normalizes angle to be in the range of [-pi, pi] * @param angle to be normalized * @return normalized angle */

* Adds object to this dataset * @param pObject */

* Gets the source vertex * @return source vertex */

* Moves the scan by moving the robot pose to the given location. * @param rPose new pose of the robot of this scan */

* Computes the robot pose given the corrected scan pose * @param rScanPose pose of the sensor */

* Adds scan to running scans of device that recorded scan * @param pScan */

* Defines the enum with the given name as having the given value * @param value * @param rName */

* Gets the laser range finder sensor that generated this scan * @return laser range finder sensor of this scan */

* Gets the range threshold * @return range threshold */

* Sets the last scan of device of given scan * @param pScan */

* Sets the odometric pose of this scan * @param rPose */

* Sets the offset * @param rOffset */

Must return the number of data points

* Gets score for vertex * @return score */

* Transforms the pose according to this transform * @param rSourcePose pose to transform from * @return transformed pose */

* Adds scan to scan vector of device that recorded scan * @param pScan */

* Deletes all scan managers of all devices */

* Gets last scan of given device * @param pLaserRangeFinder * @return last localized range scan of device */

* Gets the number of range readings * @return number of range readings */

* Gets the range readings of this scan * @return range readings of this scan */

* Gets the index into the data pointer of the given grid coordinate * @param rGrid * @param boundaryCheck default value is true * @return gri

* Resizes the grid (deletes all old data) * @param width * @param height */

* Sets the heading * @param heading of the pose */

* Update the grid based on the values in m_pCellHitsCnt and m_pCellPassCnt */

* Builds the index */

* Sets this matrix to be the rotation matrix of rotation around given axis * @param x x-coordinate of axis * @param y y-coordinate of axis *

/ / /

* Gets this range finder sensor's maximum range * @return maximum range */

* Returns the inverse of the matrix */

* Deletes the object held by this vertex */

* Finds and replaces a scan from m_Scans with NULL * @param pScan */

/

* Sets the scale * @param scale */

* Sets the size of this rectangle * @param rSize size */

Frees the previously-built index. Automatically called within * buildIndex(). */