[mrpt-maps]

Detailed Description

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Library mrpt-maps

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This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.

Interesting starting points:

• To see the list of existing metric maps, see the classes inheriting from the base virtual mrpt::slam::CMetricMap. Note: There are two special maps which are not declared here in mrpt-maps, but in mrpt-vision, due to their heavy dependence on computer vision functions.
• This library includes an embedded version of the ANN library for kd-tree fast construction and queries. It's used internally in CPointsMap, but could be used directly by the user. See ANNkd_tree.
• This library also adds new classes to the namespace mrpt::opengl, which couldn't be included in the library mrpt-opengl due to its heavy dependence on map classes declared here. The classes are: mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CPlanarLaserScan

Please, note that there is another very important map class (mrpt::slam::CMultiMetricMap) which is not in mrpt-maps, but in the library mrpt-slam (the reason is that there is not another reasonable way to factor MRPT into small libraries).

See the list of classes in mrpt::slam (not all those classes are in mrpt-maps).

Collaboration diagram for [mrpt-maps]:

Classes
class	mrpt::opengl::CAngularObservationMesh
	A mesh built from a set of 2D laser scan observations. More...
class	mrpt::opengl::CPlanarLaserScan
	This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...
class	mrpt::slam::CBeacon
	The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...
class	mrpt::slam::CBeaconMap
	A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More...
class	mrpt::slam::CColouredPointsMap
	A map of 2D/3D points with individual colours (RGB). More...
class	mrpt::slam::CGasConcentrationGridMap2D
	CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...
struct	mrpt::slam::CLogOddsGridMap2D< TCELL >
	A generic provider of log-odds grid-map maintainance functions. More...
struct	mrpt::slam::CLogOddsGridMapLUT< TCELL >
	One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More...
class	mrpt::slam::COccupancyGridMap2D
	A class for storing an occupancy grid map. More...
class	mrpt::slam::COctoMap
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
class	mrpt::slam::CPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...
struct	mrpt::slam::TRandomFieldCell
	The contents of each cell in a CRandomFieldGridMap2D map. More...
class	mrpt::slam::CRandomFieldGridMap2D
	CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...
class	mrpt::slam::CReflectivityGridMap2D
	A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...
class	mrpt::slam::CSimplePointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
class	mrpt::slam::CWeightedPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
class	mrpt::slam::CWirelessPowerGridMap2D
	CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...

Namespaces
	mrpt::opengl
	The namespace for 3D scene representation and rendering.
	mrpt::slam
	This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.