49 lines
1.6 KiB
C++
Executable File
49 lines
1.6 KiB
C++
Executable File
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_VALUE_CONVERSION_TABLES_H_
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#define CARTOGRAPHER_MAPPING_VALUE_CONVERSION_TABLES_H_
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#include <map>
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#include <vector>
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#include "cartographer/common/port.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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// Performs lazy computations of lookup tables for mapping from a uint16 value
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// to a float in ['lower_bound', 'upper_bound']. The first element of the table
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// is set to 'unknown_result'.
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class ValueConversionTables {
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public:
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const std::vector<float>* GetConversionTable(float unknown_result,
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float lower_bound,
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float upper_bound);
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private:
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std::map<const std::tuple<float /* unknown_result */, float /* lower_bound */,
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float /* upper_bound */>,
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std::unique_ptr<const std::vector<float>>>
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bounds_to_lookup_table_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_VALUE_CONVERSION_TABLES_H_
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