GraphLookupTable.h

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// *****************************************************************
// Filename:    GraphLookupTable.h
// Copyright:   Kai Welke, Chair Prof. Dillmann (IAIM),
//              Institute for Computer Science and Engineering (CSE),
//              University of Karlsruhe. All rights reserved.
// Author:      Kai Welke
// Date:        10.10.2008
// *****************************************************************
 
#pragma once
 
// *****************************************************************
// includes
// *****************************************************************
#include <list>
 
#include "SphericalGraph.h"
 
// *****************************************************************
// decleration of CGraphLookupTable
// *****************************************************************
class CGraphLookupTable
{
public:
    // construction / destruction
    CGraphLookupTable(int nMaxZenithBins, int nMaxAzimuthBins);
    ~CGraphLookupTable();
 
    // build table
    void buildLookupTable(CSphericalGraph* pGraph);
 
    // operation
    int getClosestNode(Eigen::Vector3d position);
    int getClosestNode(TSphereCoord position);
    int getClosestNode(Eigen::Vector3d position, bool& bExact);
    int getClosestNode(TSphereCoord position, bool& bExact);
 
private:
    void buildMemory();
    void cleanMemory();
    void addEntry(TSphereCoord position, int nIndex);
    void reset();
 
    int getNumberZenithBins();
    int getNumberAzimuthBins(float fZenith);
    int getAzimuthBinIndex(float fAzimuth, float fZenith);
    int getZenithBinIndex(float fZenith);
 
    void getBinMinMaxValues(int nZenithBinIndex,
                            int nAzimuthBinIndex,
                            float& fMinZenith,
                            float& fMaxZenith,
                            float& fMinAzimuth,
                            float& fMaxAzimuth);
 
    int m_nMaxZenithBins;
    int m_nMaxAzimuthBins;
 
    std::list<int>** m_ppTable;
 
    CSphericalGraph* m_pGraph;
};