Detailed Description

A class for storing an occupancy grid map.

COccupancyGridMap2D is a class for storing a metric map representation in the form of a probabilistic occupancy grid map: value of 0 means certainly occupied, 1 means a certainly empty cell. Initially 0.5 means uncertainty.

The cells keep the log-odd representation of probabilities instead of the probabilities themselves. More details can be found at http://www.mrpt.org/Occupancy_Grids

The algorithm for updating the grid from a laser scanner can optionally take into account the progressive widening of the beams, as described in this page

Some implemented methods are:

Update of individual cells
Insertion of observations
Voronoi diagram and critical points (buildVoronoiDiagram)
Saving and loading from/to a bitmap
Laser scans simulation for the map contents
Entropy and information methods (See computeEntropy)

Definition at line 61 of file maps/COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D:

Classes
struct	TCriticalPointsList
	The structure used to store the set of Voronoi diagram critical points. More...

struct	TEntropyInfo
	Used for returning entropy related information. More...

class	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...

struct	TLaserSimulUncertaintyParams
	Input params for laserScanSimulatorWithUncertainty() More...

struct	TLaserSimulUncertaintyResult
	Output params for laserScanSimulatorWithUncertainty() More...

class	TLikelihoodOptions
	With this struct options are provided to the observation likelihood computation process. More...

class	TLikelihoodOutput
	Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...

struct	TMapDefinition

struct	TMapDefinitionBase

struct	TUpdateCellsInfoChangeOnly
	An internal structure for storing data related to counting the new information apported by some observation. More...

Public Types
enum	TLikelihoodMethod { lmMeanInformation = 0, lmRayTracing, lmConsensus, lmCellsDifference, lmLikelihoodField_Thrun, lmLikelihoodField_II, lmConsensusOWA }
	The type for selecting a likelihood computation method. More...

typedef int16_t	cellType
	The type of the map cells: More...

typedef uint16_t	cellTypeUnsigned

typedef std::pair< double, mrpt::math::TPoint2D >	TPairLikelihoodIndex
	Auxiliary private class. More...

typedef int16_t	cell_t
	The type of cells. More...

typedef detail::logoddscell_traits< int16_t >	traits_t

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

const std::vector< cellType > &	getRawMap () const
	Read-only access to the raw cell contents (cells are in log-odd units) More...

void	updateCell (int x, int y, float v)
	Performs the Bayesian fusion of a new observation of a cell. More...

void	fill (float default_value=0.5f)
	Fills all the cells with a default value. More...

	COccupancyGridMap2D (float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f)
	Constructor. More...

virtual	~COccupancyGridMap2D ()
	Destructor. More...

void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f)
	Change the size of gridmap, erasing all its previous contents. More...

void	resizeGrid (float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) MRPT_NO_THROWS
	Change the size of gridmap, maintaining previous contents. More...

double	getArea () const
	Returns the area of the gridmap, in square meters. More...

unsigned int	getSizeX () const
	Returns the horizontal size of grid map in cells count. More...

unsigned int	getSizeY () const
	Returns the vertical size of grid map in cells count. More...

float	getXMin () const
	Returns the "x" coordinate of left side of grid map. More...

float	getXMax () const
	Returns the "x" coordinate of right side of grid map. More...

float	getYMin () const
	Returns the "y" coordinate of top side of grid map. More...

float	getYMax () const
	Returns the "y" coordinate of bottom side of grid map. More...

float	getResolution () const
	Returns the resolution of the grid map. More...

int	x2idx (float x) const
	Transform a coordinate value into a cell index. More...

int	y2idx (float y) const

int	x2idx (double x) const

int	y2idx (double y) const

float	idx2x (const size_t cx) const
	Transform a cell index into a coordinate value. More...

float	idx2y (const size_t cy) const

int	x2idx (float x, float x_min) const
	Transform a coordinate value into a cell index, using a diferent "x_min" value. More...

int	y2idx (float y, float y_min) const

void	setCell (int x, int y, float value)
	Change the contents [0,1] of a cell, given its index. More...

float	getCell (int x, int y) const
	Read the real valued [0,1] contents of a cell, given its index. More...

cellType *	getRow (int cy)
	Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. More...

const cellType *	getRow (int cy) const
	Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. More...

void	setPos (float x, float y, float value)
	Change the contents [0,1] of a cell, given its coordinates. More...

float	getPos (float x, float y) const
	Read the real valued [0,1] contents of a cell, given its coordinates. More...

bool	isStaticPos (float x, float y, float threshold=0.7f) const
	Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold. More...

bool	isStaticCell (int cx, int cy, float threshold=0.7f) const

void	setBasisCell (int x, int y, uint8_t value)
	Change a cell in the "basis" maps.Used for Voronoi calculation. More...

unsigned char	getBasisCell (int x, int y) const
	Reads a cell in the "basis" maps.Used for Voronoi calculation. More...

void	copyMapContentFrom (const COccupancyGridMap2D &otherMap)
	copy the gridmap contents, but not all the options, from another map instance More...

void	subSample (int downRatio)
	Performs a downsampling of the gridmap, by a given factor: resolution/=ratio. More...

void	computeEntropy (TEntropyInfo &info) const
	Computes the entropy and related values of this grid map. More...

int	computeClearance (int cx, int cy, int basis_x, int basis_y, int *nBasis, bool GetContourPoint=false) const
	Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points. More...

float	computeClearance (float x, float y, float maxSearchDistance) const
	An alternative method for computing the clearance of a given location (in meters). More...

float	computePathCost (float x1, float y1, float x2, float y2) const
	Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells. More...

double	computeLikelihoodField_Thrun (const CPointsMap pm, const mrpt::poses::CPose2D relativePose=NULL)
	Computes the likelihood [0,1] of a set of points, given the current grid map as reference. More...

double	computeLikelihoodField_II (const CPointsMap pm, const mrpt::poses::CPose2D relativePose=NULL)
	Computes the likelihood [0,1] of a set of points, given the current grid map as reference. More...

bool	saveAsBitmapFile (const std::string &file) const
	Saves the gridmap as a graphical file (BMP,PNG,...). More...

template<class CLANDMARKSMAP >
bool	saveAsBitmapFileWithLandmarks (const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::utils::TColor &marks_color=mrpt::utils::TColor(0, 0, 255)) const
	Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks. More...

void	getAsImage (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const
	Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. More...

void	getAsImageFiltered (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
	Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. More...

void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
	Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e. More...

void	getAsPointCloud (mrpt::maps::CSimplePointsMap &pm, const float occup_threshold=0.5f) const
	Get a point cloud with all (border) occupied cells as points. More...

bool	isEmpty () const MRPT_OVERRIDE
	Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map. More...

bool	loadFromBitmapFile (const std::string &file, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
	Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). More...

bool	loadFromBitmap (const mrpt::utils::CImage &img, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
	Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). More...

virtual void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
	See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE
	See docs in base class: in this class this always returns 0. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

bool	insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)

virtual bool	canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

bool	canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) const

double	computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

virtual const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...

virtual mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap ()

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static float	l2p (const cellType l)
	Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) More...

static uint8_t	l2p_255 (const cellType l)
	Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) More...

static cellType	p2l (const float p)
	Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType. More...

static bool	saveAsBitmapTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D m1, const COccupancyGridMap2D m2, const mrpt::utils::TMatchingPairList &corrs)
	Saves a composite image with two gridmaps and lines representing a set of correspondences between them. More...

static bool	saveAsEMFTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D m1, const COccupancyGridMap2D m2, const mrpt::utils::TMatchingPairList &corrs)
	Saves a composite image with two gridmaps and numbers for the correspondences between them. More...

static void	updateCell_fast_occupied (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_free (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

Public Attributes
struct MAPS_IMPEXP mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly	updateInfoChangeOnly

TInsertionOptions	insertionOptions
	With this struct options are provided to the observation insertion process. More...

mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions	likelihoodOptions

class mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput	likelihoodOutputs

struct MAPS_IMPEXP mrpt::maps::COccupancyGridMap2D::TCriticalPointsList	CriticalPointsList

TMapGenericParams	genericMapParams
	Common params to all maps. More...

Static Public Attributes
static const cellType	OCCGRID_CELLTYPE_MIN = CLogOddsGridMap2D<cellType>::CELLTYPE_MIN
	Discrete to float conversion factors: The min/max values of the integer cell type, eg. More...

static const cellType	OCCGRID_CELLTYPE_MAX = CLogOddsGridMap2D<cellType>::CELLTYPE_MAX

static const cellType	OCCGRID_P2LTABLE_SIZE = CLogOddsGridMap2D<cellType>::P2LTABLE_SIZE

static double	RAYTRACE_STEP_SIZE_IN_CELL_UNITS = 0.8
	(Default:1.0) Can be set to <1 if a more fine raytracing is needed in sonarSimulator() and laserScanSimulator(), or >1 to speed it up. More...

static const mrpt::utils::TRuntimeClassId	classCObject

static const int16_t	CELLTYPE_MIN = -32767

static const int16_t	CELLTYPE_MAX = 32767

static const int16_t	P2LTABLE_SIZE = CELLTYPE_MAX

static const size_t	LOGODDS_LUT_ENTRIES = 1<<16

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMetricMap

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	freeMap ()
	Frees the dynamic memory buffers of map. More...

virtual void	OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) MRPT_OVERRIDE
	See base class. More...

void	setCell_nocheck (int x, int y, float value)
	Change the contents [0,1] of a cell, given its index. More...

float	getCell_nocheck (int x, int y) const
	Read the real valued [0,1] contents of a cell, given its index. More...

void	setRawCell (unsigned int cellIndex, cellType b)
	Changes a cell by its absolute index (Do not use it normally) More...

double	computeObservationLikelihood_Consensus (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.) More...

double	computeObservationLikelihood_ConsensusOWA (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

double	computeObservationLikelihood_CellsDifference (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

double	computeObservationLikelihood_MI (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

double	computeObservationLikelihood_rayTracing (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

double	computeObservationLikelihood_likelihoodField_Thrun (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

double	computeObservationLikelihood_likelihoodField_II (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood". More...

virtual void	internal_clear () MRPT_OVERRIDE
	Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values). More...

virtual bool	internal_insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=NULL) MRPT_OVERRIDE
	Insert the observation information into this map. More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Static Protected Member Functions
static double	H (double p)
	Entropy computation internal function: More...

Protected Attributes
std::vector< cellType >	map
	Store of cell occupancy values. Order: row by row, from left to right. More...

uint32_t	size_x

uint32_t	size_y
	The size of the grid in cells. More...

float	x_min

float	x_max

float	y_min

float	y_max
	The limits of the grid in "units" (meters) More...

float	resolution
	Cell size, i.e. resolution of the grid map. More...

std::vector< double >	precomputedLikelihood
	Auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache). More...

bool	precomputedLikelihoodToBeRecomputed

mrpt::utils::CDynamicGrid< uint8_t >	m_basis_map
	Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point. More...

mrpt::utils::CDynamicGrid< uint16_t >	m_voronoi_diagram
	Used to store the Voronoi diagram. More...

bool	m_is_empty
	True upon construction; used by isEmpty() More...

float	voroni_free_threshold
	The free-cells threshold used to compute the Voronoi diagram. More...

Static Protected Attributes
static CLogOddsGridMapLUT< cellType >	m_logodd_lut
	Lookup tables for log-odds. More...

static std::vector< float >	entropyTable
	Internally used to speed-up entropy calculation. More...

Private Member Functions
double	internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
	Internal method called by computeObservationLikelihood() More...

bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const MRPT_OVERRIDE
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

unsigned char	GetNeighborhood (int cx, int cy) const
	Returns a byte with the occupancy of the 8 sorrounding cells. More...

int	direction2idx (int dx, int dy)
	Returns the index [0,7] of the given movement, or -1 if invalid one. More...

Private Attributes
int	direccion_vecino_x [8]
	Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor. More...

int	direccion_vecino_y [8]

Friends
class	CMultiMetricMap
	Backward compatible typedef. More...

class	CMultiMetricMapPDF
	Backward compatible typedef. More...

RTTI stuff
typedef COccupancyGridMap2DPtr	Ptr

typedef COccupancyGridMap2DPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_COccupancyGridMap2D

static mrpt::utils::TRuntimeClassId	classCOccupancyGridMap2D

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static COccupancyGridMap2DPtr	Create ()

Voronoi methods
void	buildVoronoiDiagram (float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0)
	Build the Voronoi diagram of the grid map. More...

uint16_t	getVoroniClearance (int cx, int cy) const
	Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram. More...

const mrpt::utils::CDynamicGrid< uint8_t > &	getBasisMap () const
	Return the auxiliary "basis" map built while building the Voronoi diagram. More...

const mrpt::utils::CDynamicGrid< uint16_t > &	getVoronoiDiagram () const
	Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram. More...

void	findCriticalPoints (float filter_distance)
	Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method. More...

void	setVoroniClearance (int cx, int cy, uint16_t dist)
	Used to set the clearance of a cell, while building the Voronoi diagram. More...

Sensor simulators
enum	TLaserSimulUncertaintyMethod { sumUnscented = 0, sumMonteCarlo }
	Methods for TLaserSimulUncertaintyParams in laserScanSimulatorWithUncertainty() More...

void	laserScanSimulator (mrpt::obs::CObservation2DRangeScan &inout_Scan, const mrpt::poses::CPose2D &robotPose, float threshold=0.6f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=mrpt::utils::DEG2RAD(0)) const
	Simulates a laser range scan into the current grid map. More...

void	sonarSimulator (mrpt::obs::CObservationRange &inout_observation, const mrpt::poses::CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0.f, float angleNoiseStd=mrpt::utils::DEG2RAD(0.f)) const
	Simulates the observations of a sonar rig into the current grid map. More...

void	simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const double max_range_meters, const float threshold_free=0.4f, const double noiseStd=.0, const double angleNoiseStd=.0) const
	Simulate just one "ray" in the grid map. More...

void	laserScanSimulatorWithUncertainty (const TLaserSimulUncertaintyParams &in_params, TLaserSimulUncertaintyResult &out_results) const
	Like laserScanSimulatorWithUncertainty() (see it for a discussion of most parameters) but taking into account the robot pose uncertainty and generating a vector of predicted variances for each ray. More...

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "COccupancyGridMap2D,occupancyGrid" ,& mrpt::maps::COccupancyGridMap2D ::MapDefinition,& mrpt::maps::COccupancyGridMap2D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static COccupancyGridMap2D *	CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
	Constructor from a map definition structure: initializes the map and its parameters accordingly. More...

static mrpt::maps::CMetricMap *	internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)

Member Typedef Documentation

◆ cell_t

typedef int16_t mrpt::maps::CLogOddsGridMap2D< int16_t >::cell_t

inherited

The type of cells.

Definition at line 52 of file maps/CLogOddsGridMap2D.h.

◆ cellType

typedef int16_t mrpt::maps::COccupancyGridMap2D::cellType

The type of the map cells:

Definition at line 79 of file maps/COccupancyGridMap2D.h.

◆ cellTypeUnsigned

typedef uint16_t mrpt::maps::COccupancyGridMap2D::cellTypeUnsigned

Definition at line 80 of file maps/COccupancyGridMap2D.h.

◆ ConstPtr

typedef COccupancyGridMap2DPtr mrpt::maps::COccupancyGridMap2D::ConstPtr

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ Ptr

typedef COccupancyGridMap2DPtr mrpt::maps::COccupancyGridMap2D::Ptr

A typedef for the associated smart pointer

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ TPairLikelihoodIndex

typedef std::pair<double,mrpt::math::TPoint2D> mrpt::maps::COccupancyGridMap2D::TPairLikelihoodIndex

Auxiliary private class.

Definition at line 433 of file maps/COccupancyGridMap2D.h.

◆ traits_t

typedef detail::logoddscell_traits<int16_t > mrpt::maps::CLogOddsGridMap2D< int16_t >::traits_t

inherited

Definition at line 53 of file maps/CLogOddsGridMap2D.h.

Member Enumeration Documentation

◆ TLaserSimulUncertaintyMethod

enum mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyMethod

Methods for TLaserSimulUncertaintyParams in laserScanSimulatorWithUncertainty()

Enumerator
sumUnscented	Performs an unscented transform.
sumMonteCarlo	Montecarlo-based estimation.

Definition at line 589 of file maps/COccupancyGridMap2D.h.

◆ TLikelihoodMethod

enum mrpt::maps::COccupancyGridMap2D::TLikelihoodMethod

The type for selecting a likelihood computation method.

Enumerator
lmMeanInformation
lmRayTracing
lmConsensus
lmCellsDifference
lmLikelihoodField_Thrun
lmLikelihoodField_II
lmConsensusOWA

Definition at line 381 of file maps/COccupancyGridMap2D.h.

Constructor & Destructor Documentation

◆ COccupancyGridMap2D()

COccupancyGridMap2D::COccupancyGridMap2D	(	float	min_x = `-20.0f`,
		float	max_x = `20.0f`,
		float	min_y = `-20.0f`,
		float	max_y = `20.0f`,
		float	resolution = `0.05f`
	)

Constructor.

Definition at line 92 of file COccupancyGridMap2D_common.cpp.

References MRPT_END, MRPT_START, resolution, and setSize().

◆ ~COccupancyGridMap2D()

COccupancyGridMap2D::~COccupancyGridMap2D ( )

virtual

Destructor.

Definition at line 122 of file COccupancyGridMap2D_common.cpp.

References freeMap().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::COccupancyGridMap2D::_GetBaseClass ( )

staticprotected

◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 232 of file maps/CMetricMap.h.

◆ buildVoronoiDiagram()

void COccupancyGridMap2D::buildVoronoiDiagram	(	float	threshold,
		float	robot_size,
		int	x1 = `0`,
		int	x2 = `0`,
		int	y1 = `0`,
		int	y2 = `0`
	)

Build the Voronoi diagram of the grid map.

Parameters

threshold	The threshold for binarizing the map.
robot_size	Size in "units" (meters) of robot, approx.
x1	Left coordinate of area to be computed. Default, entire map.
x2	Right coordinate of area to be computed. Default, entire map.
y1	Top coordinate of area to be computed. Default, entire map.
y2	Bottom coordinate of area to be computed. Default, entire map.

See also: findCriticalPoints

Definition at line 25 of file COccupancyGridMap2D_voronoi.cpp.

References ASSERT_EQUAL_, min, and mrpt::utils::round().

◆ canComputeObservationLikelihood() [1/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also: computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 189 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr & obs ) const

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame & sf ) const

inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

Definition at line 94 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 34 of file CMetricMap.cpp.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::maps::CWirelessPowerGridMap2D::CWirelessPowerGridMap2D(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), getAsPointCloud(), mrpt::maps::CPointsMap::load2Dor3D_from_text_file(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CRandomFieldGridMap2D::setSize(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ compute3DMatchingRatio()

float COccupancyGridMap2D::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

virtual

See docs in base class: in this class this always returns 0.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 771 of file COccupancyGridMap2D_common.cpp.

References MRPT_UNUSED_PARAM.

◆ computeClearance() [1/2]

int COccupancyGridMap2D::computeClearance	(	int	cx,
		int	cy,
		int *	basis_x,
		int *	basis_y,
		int *	nBasis,
		bool	GetContourPoint = `false`
	)		const

Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.

Returns: The clearance of the cell, in 1/100 of "cell".

Parameters

cx	The cell index
cy	The cell index
basis_x	Target buffer for coordinates of basis, having a size of two "ints".
basis_y	Target buffer for coordinates of basis, having a size of two "ints".
nBasis	The number of found basis: Can be 0,1 or 2.
GetContourPoint	If "true" the basis are not returned, but the closest free cells.Default at false.

See also: Build_VoronoiDiagram

Definition at line 249 of file COccupancyGridMap2D_voronoi.cpp.

References M_2PI, M_PI, M_PIf, N_CIRCULOS, and mrpt::utils::round().

◆ computeClearance() [2/2]

float COccupancyGridMap2D::computeClearance	(	float	x,
		float	y,
		float	maxSearchDistance
	)		const

An alternative method for computing the clearance of a given location (in meters).

Returns: The clearance (distance to closest OCCUPIED cell), in meters.

Definition at line 518 of file COccupancyGridMap2D_voronoi.cpp.

References min, and mrpt::math::square().

◆ computeEntropy()

void COccupancyGridMap2D::computeEntropy ( TEntropyInfo & info ) const

Computes the entropy and related values of this grid map.

The entropy is computed as the summed entropy of each cell, taking them as discrete random variables following a Bernoulli distribution:

Parameters

info	The output information is returned here

Definition at line 355 of file COccupancyGridMap2D_common.cpp.

References entropyTable, H(), info, l2p(), map, MAX_H, and resolution.

◆ computeLikelihoodField_II()

double COccupancyGridMap2D::computeLikelihoodField_II	(	const CPointsMap *	pm,
		const mrpt::poses::CPose2D *	relativePose = `NULL`
	)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters

pm	The points map
relativePose	The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.

Definition at line 683 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::CPointsMap::getPoint(), min, MRPT_END, MRPT_START, mrpt::maps::CPointsMap::size(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ computeLikelihoodField_Thrun()

double COccupancyGridMap2D::computeLikelihoodField_Thrun	(	const CPointsMap *	pm,
		const mrpt::poses::CPose2D *	relativePose = `NULL`
	)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters

pm	The points map
relativePose	The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.

Definition at line 499 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::CPointsMap::getPoint(), mrpt::utils::keep_min(), LIK_LF_CACHE_INVALID, min, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::utils::round(), mrpt::maps::CPointsMap::size(), mrpt::math::square(), mrpt::math::TPoint2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint2D::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 196 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 86 of file CMetricMap.cpp.

◆ computeObservationLikelihood_CellsDifference()

double COccupancyGridMap2D::computeObservationLikelihood_CellsDifference	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 234 of file COccupancyGridMap2D_likelihood.cpp.

References CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation::insertObservationInto(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), min, mrpt::utils::round(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ computeObservationLikelihood_Consensus()

double COccupancyGridMap2D::computeObservationLikelihood_Consensus	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)

Definition at line 87 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), CLASS_ID, mrpt::poses::CPose2D::composePoint(), mrpt::maps::CPointsMap::getPoint(), mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::CPointsMap::size(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ computeObservationLikelihood_ConsensusOWA()

double COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

TODO: This method is described in....

Definition at line 144 of file COccupancyGridMap2D_likelihood.cpp.

References ASSERT_, mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), CLASS_ID, mrpt::poses::CPose2D::composePoint(), mrpt::maps::CPointsMap::getPoint(), mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), min, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, mrpt::math::TPoint2D::size(), mrpt::maps::CPointsMap::size(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ computeObservationLikelihood_likelihoodField_II()

double COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 462 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), MRPT_END, and MRPT_START.

◆ computeObservationLikelihood_likelihoodField_Thrun()

double COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 408 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance, mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::CMetricMap::insertObservation(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap, mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, MRPT_END, and MRPT_START.

◆ computeObservationLikelihood_MI()

double COccupancyGridMap2D::computeObservationLikelihood_MI	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 298 of file COccupancyGridMap2D_likelihood.cpp.

References MRPT_END, and MRPT_START.

◆ computeObservationLikelihood_rayTracing()

double COccupancyGridMap2D::computeObservationLikelihood_rayTracing	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 337 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::obs::CObservation2DRangeScan::maxRange, min, mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::scan, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::utils::ContainerReadOnlyProxyAccessor< STLCONTAINER >::size(), mrpt::math::square(), and mrpt::obs::CObservation2DRangeScan::validRange.

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood	(	const mrpt::obs::CSensoryFrame &	sf,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

Definition at line 75 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

◆ computePathCost()

float COccupancyGridMap2D::computePathCost	(	float	x1,
		float	y1,
		float	x2,
		float	y2
	)		const

Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.

Returns: This returns '1-mean(traversed cells occupancy)', i.e. 0.5 for unknown cells, 1 for a free path.

Definition at line 752 of file COccupancyGridMap2D_common.cpp.

References getPos(), resolution, mrpt::utils::round(), and mrpt::math::square().

◆ copyMapContentFrom()

void COccupancyGridMap2D::copyMapContentFrom ( const COccupancyGridMap2D & otherMap )

copy the gridmap contents, but not all the options, from another map instance

Definition at line 127 of file COccupancyGridMap2D_common.cpp.

References mrpt::utils::CDynamicGrid< T >::clear(), freeMap(), m_basis_map, m_is_empty, m_voronoi_diagram, map, precomputedLikelihoodToBeRecomputed, resolution, size_x, size_y, x_max, x_min, y_max, and y_min.

◆ Create()

static COccupancyGridMap2DPtr mrpt::maps::COccupancyGridMap2D::Create ( )

static

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getMap(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), and CGraphSlamHandler< GRAPH_T >::saveMap().

◆ CreateFromMapDefinition()

mrpt::maps::COccupancyGridMap2D * mrpt::maps::COccupancyGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Constructor from a map definition structure: initializes the map and its parameters accordingly.

Definition at line 29 of file COccupancyGridMap2D_common.cpp.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::COccupancyGridMap2D::CreateObject ( )

static

◆ determineMatching2D()

void COccupancyGridMap2D::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::utils::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

virtual

See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.

NOTICE: That the "z" dimension is ignored in the points. Clip the points as appropiated if needed before calling this method.

See also: computeMatching3DWith

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 539 of file COccupancyGridMap2D_common.cpp.

◆ determineMatching3D()

void CMetricMap::determineMatching3D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		mrpt::utils::TMatchingPairList &	correspondences,
		const TMatchingParams &	params,
		TMatchingExtraResults &	extraResults
	)		const

virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 150 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

◆ direction2idx()

int COccupancyGridMap2D::direction2idx	(	int	dx,
		int	dy
	)

private

Returns the index [0,7] of the given movement, or -1 if invalid one.

See also: direccion_vecino_x,direccion_vecino_y,GetNeighborhood

Definition at line 483 of file COccupancyGridMap2D_voronoi.cpp.

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::maps::COccupancyGridMap2D::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ fill()

void COccupancyGridMap2D::fill ( float default_value = 0.5f )

Fills all the cells with a default value.

Definition at line 446 of file COccupancyGridMap2D_common.cpp.

References map, p2l(), and precomputedLikelihoodToBeRecomputed.

Referenced by run_rnav_test().

◆ findCriticalPoints()

void COccupancyGridMap2D::findCriticalPoints ( float filter_distance )

Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.

Parameters

filter_distance The minimum distance between two critical points.

See also: buildVoronoiDiagram

Definition at line 97 of file COccupancyGridMap2D_voronoi.cpp.

References ASSERT_EQUAL_, mrpt::utils::clear(), min, and mrpt::utils::round().

◆ freeMap()

void COccupancyGridMap2D::freeMap ( )

protected

Frees the dynamic memory buffers of map.

Definition at line 326 of file COccupancyGridMap2D_common.cpp.

References mrpt::utils::CDynamicGrid< T >::clear(), m_basis_map, m_is_empty, m_voronoi_diagram, map, MRPT_END, MRPT_START, precomputedLikelihoodToBeRecomputed, size_x, and size_y.

Referenced by copyMapContentFrom(), setSize(), and ~COccupancyGridMap2D().

◆ getArea()

double mrpt::maps::COccupancyGridMap2D::getArea ( ) const

inline

Returns the area of the gridmap, in square meters.

Definition at line 214 of file maps/COccupancyGridMap2D.h.

References mrpt::mrpt::math::square().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

◆ getAs3DObject()

void COccupancyGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.

a value of 0.5 is fully transparent)

Implements mrpt::maps::CMetricMap.

Definition at line 155 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::opengl::CTexturedPlane::Create(), MRPT_END, and MRPT_START.

◆ getAsImage()

void COccupancyGridMap2D::getAsImage	(	utils::CImage &	img,
		bool	verticalFlip = `false`,
		bool	forceRGB = `false`,
		bool	tricolor = `false`
	)		const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also: getAsImageFiltered

Definition at line 31 of file COccupancyGridMap2D_getAs.cpp.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), saveAsBitmapTwoMapsWithCorrespondences(), and saveAsEMFTwoMapsWithCorrespondences().

◆ getAsImageFiltered()

void COccupancyGridMap2D::getAsImageFiltered	(	utils::CImage &	img,
		bool	verticalFlip = `false`,
		bool	forceRGB = `false`
	)		const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also: getAsImage

Definition at line 131 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::utils::round().

Referenced by mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ getAsPointCloud()

void COccupancyGridMap2D::getAsPointCloud	(	mrpt::maps::CSimplePointsMap &	pm,
		const float	occup_threshold = `0.5f`
	)		const

Get a point cloud with all (border) occupied cells as points.

Definition at line 197 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), and mrpt::maps::CSimplePointsMap::reserve().

◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const

inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 240 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

◆ getAsSimplePointsMap() [2/2]

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )

inlinevirtualinherited

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 241 of file maps/CMetricMap.h.

◆ getBasisCell()

unsigned char mrpt::maps::COccupancyGridMap2D::getBasisCell	(	int	x,
		int	y
	)		const

inline

Reads a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 313 of file maps/COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

◆ getBasisMap()

const mrpt::utils::CDynamicGrid<uint8_t>& mrpt::maps::COccupancyGridMap2D::getBasisMap ( ) const

inline

Return the auxiliary "basis" map built while building the Voronoi diagram.

See also: buildVoronoiDiagram

Definition at line 497 of file maps/COccupancyGridMap2D.h.

◆ getCell()

float mrpt::maps::COccupancyGridMap2D::getCell	(	int	x,
		int	y
	)		const

inline

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 275 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and subSample().

◆ getCell_nocheck()

float mrpt::maps::COccupancyGridMap2D::getCell_nocheck	(	int	x,
		int	y
	)		const

inlineprotected

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 129 of file maps/COccupancyGridMap2D.h.

◆ GetNeighborhood()

unsigned char COccupancyGridMap2D::GetNeighborhood	(	int	cx,
		int	cy
	)		const

inlineprivate

Returns a byte with the occupancy of the 8 sorrounding cells.

Parameters

cx	The cell index
cy	The cell index

See also: direction2idx

Definition at line 461 of file COccupancyGridMap2D_voronoi.cpp.

◆ getPos()

float mrpt::maps::COccupancyGridMap2D::getPos	(	float	x,
		float	y
	)		const

inline

Read the real valued [0,1] contents of a cell, given its coordinates.

Definition at line 293 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), computePathCost(), and TEST().

◆ getRawMap()

const std::vector<cellType>& mrpt::maps::COccupancyGridMap2D::getRawMap ( ) const

inline

Read-only access to the raw cell contents (cells are in log-odd units)

Definition at line 168 of file maps/COccupancyGridMap2D.h.

◆ getResolution()

float mrpt::maps::COccupancyGridMap2D::getResolution ( ) const

inline

Returns the resolution of the grid map.

Definition at line 235 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), internal_clear(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ getRow() [1/2]

cellType* mrpt::maps::COccupancyGridMap2D::getRow ( int cy )

inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 284 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation().

◆ getRow() [2/2]

const cellType* mrpt::maps::COccupancyGridMap2D::getRow ( int cy ) const

inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 287 of file maps/COccupancyGridMap2D.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::COccupancyGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ getSizeX()

unsigned int mrpt::maps::COccupancyGridMap2D::getSizeX ( ) const

inline

Returns the horizontal size of grid map in cells count.

Definition at line 217 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

◆ getSizeY()

unsigned int mrpt::maps::COccupancyGridMap2D::getSizeY ( ) const

inline

Returns the vertical size of grid map in cells count.

Definition at line 220 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

◆ getVoroniClearance()

uint16_t mrpt::maps::COccupancyGridMap2D::getVoroniClearance	(	int	cx,
		int	cy
	)		const

inline

Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.

Definition at line 468 of file maps/COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

◆ getVoronoiDiagram()

const mrpt::utils::CDynamicGrid<uint16_t>& mrpt::maps::COccupancyGridMap2D::getVoronoiDiagram ( ) const

inline

Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.

See also: buildVoronoiDiagram

Definition at line 500 of file maps/COccupancyGridMap2D.h.

◆ getXMax()

float mrpt::maps::COccupancyGridMap2D::getXMax ( ) const

inline

Returns the "x" coordinate of right side of grid map.

Definition at line 226 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ getXMin()

float mrpt::maps::COccupancyGridMap2D::getXMin ( ) const

inline

Returns the "x" coordinate of left side of grid map.

Definition at line 223 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ getYMax()

float mrpt::maps::COccupancyGridMap2D::getYMax ( ) const

inline

Returns the "y" coordinate of bottom side of grid map.

Definition at line 232 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ getYMin()

float mrpt::maps::COccupancyGridMap2D::getYMin ( ) const

inline

Returns the "y" coordinate of top side of grid map.

Definition at line 229 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ H()

double COccupancyGridMap2D::H ( double p )

staticprotected

Entropy computation internal function:

Definition at line 425 of file COccupancyGridMap2D_common.cpp.

Referenced by computeEntropy(), and updateCell().

◆ hasSubscribers()

bool mrpt::utils::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 52 of file CObservable.h.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ idx2x()

float mrpt::maps::COccupancyGridMap2D::idx2x ( const size_t cx ) const

inline

Transform a cell index into a coordinate value.

Definition at line 245 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

◆ idx2y()

float mrpt::maps::COccupancyGridMap2D::idx2y ( const size_t cy ) const

inline

Definition at line 246 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

◆ insertObservation()

bool CMetricMap::insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.

See also: CObservation::insertObservationInto

Definition at line 102 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr	(	const mrpt::obs::CObservationPtr &	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 118 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ internal_canComputeObservationLikelihood()

bool COccupancyGridMap2D::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

privatevirtual

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters

obs	The observation.

See also: computeObservationLikelihood

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 897 of file COccupancyGridMap2D_likelihood.cpp.

References CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance, insertionOptions, mrpt::obs::CObservation2DRangeScan::isPlanarScan(), mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude, mrpt::obs::CObservation2DRangeScan::sensorPose, and mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude.

◆ internal_clear()

void COccupancyGridMap2D::internal_clear ( )

protectedvirtual

Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).

Implements mrpt::maps::CMetricMap.

Definition at line 435 of file COccupancyGridMap2D_common.cpp.

References getResolution(), precomputedLikelihoodToBeRecomputed, and setSize().

◆ internal_computeObservationLikelihood()

double COccupancyGridMap2D::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

privatevirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 35 of file COccupancyGridMap2D_likelihood.cpp.

References CLASS_ID, mrpt::obs::CObservation::GetRuntimeClass(), mrpt::obs::CObservation2DRangeScan::isPlanarScan(), and mrpt::obs::CObservation2DRangeScan::sensorPose.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * COccupancyGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 70 of file COccupancyGridMap2D_common.cpp.

References mrpt::maps::COccupancyGridMap2D::TMapDefinition::insertionOpts, mrpt::maps::COccupancyGridMap2D::TMapDefinition::likelihoodOpts, mrpt::maps::COccupancyGridMap2D::TMapDefinition::max_x, mrpt::maps::COccupancyGridMap2D::TMapDefinition::max_y, mrpt::maps::COccupancyGridMap2D::TMapDefinition::min_x, mrpt::maps::COccupancyGridMap2D::TMapDefinition::min_y, and mrpt::maps::COccupancyGridMap2D::TMapDefinition::resolution.

◆ internal_insertObservation()

bool COccupancyGridMap2D::internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

protectedvirtual

Insert the observation information into this map.

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)

After successfull execution, "lastObservationInsertionInfo" is updated.

See also: insertionOptions, CObservation::insertObservationInto

Implements mrpt::maps::CMetricMap.

Definition at line 40 of file COccupancyGridMap2D_insert.cpp.

◆ isEmpty()

bool COccupancyGridMap2D::isEmpty ( ) const

virtual

Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.

Implements mrpt::maps::CMetricMap.

Definition at line 733 of file COccupancyGridMap2D_common.cpp.

References m_is_empty.

◆ isStaticCell()

bool mrpt::maps::COccupancyGridMap2D::isStaticCell	(	int	cx,
		int	cy,
		float	threshold = `0.7f`
	)		const

inline

Definition at line 297 of file maps/COccupancyGridMap2D.h.

◆ isStaticPos()

bool mrpt::maps::COccupancyGridMap2D::isStaticPos	(	float	x,
		float	y,
		float	threshold = `0.7f`
	)		const

inline

Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.

Definition at line 296 of file maps/COccupancyGridMap2D.h.

◆ l2p()

static float mrpt::maps::COccupancyGridMap2D::l2p ( const cellType l )

inlinestatic

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 253 of file maps/COccupancyGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p().

Referenced by computeEntropy(), and updateCell().

◆ l2p_255()

static uint8_t mrpt::maps::COccupancyGridMap2D::l2p_255 ( const cellType l )

inlinestatic

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 257 of file maps/COccupancyGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255().

◆ laserScanSimulator()

void COccupancyGridMap2D::laserScanSimulator	(	mrpt::obs::CObservation2DRangeScan &	inout_Scan,
		const mrpt::poses::CPose2D &	robotPose,
		float	threshold = `0.6f`,
		size_t	N = `361`,
		float	noiseStd = `0`,
		unsigned int	decimation = `1`,
		float	angleNoiseStd = `mrpt::utils::DEG2RAD(0)`
	)		const

Simulates a laser range scan into the current grid map.

The simulated scan is stored in a CObservation2DRangeScan object, which is also used to pass some parameters: all previously stored characteristics (as aperture,...) are taken into account for simulation. Only a few more parameters are needed. Additive gaussian noise can be optionally added to the simulated scan.

Parameters

inout_Scan	[IN/OUT] This must be filled with desired parameters before calling, and will contain the scan samples on return.
robotPose	[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold	[IN] The minimum occupancy threshold to consider a cell to be occupied (Default: 0.5f)
N	[IN] The count of range scan "rays", by default to 361.
noiseStd	[IN] The standard deviation of measurement noise. If not desired, set to 0.
decimation	[IN] The rays that will be simulated are at indexes: 0, D, 2D, 3D, ... Default is D=1
angleNoiseStd	[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).

See also: laserScanSimulatorWithUncertainty(), sonarSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 31 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, ASSERT_, mrpt::obs::CObservation2DRangeScan::maxRange, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by run_rnav_test().

◆ laserScanSimulatorWithUncertainty()

void COccupancyGridMap2D::laserScanSimulatorWithUncertainty	(	const TLaserSimulUncertaintyParams &	in_params,
		COccupancyGridMap2D::TLaserSimulUncertaintyResult &	out_results
	)		const

Like laserScanSimulatorWithUncertainty() (see it for a discussion of most parameters) but taking into account the robot pose uncertainty and generating a vector of predicted variances for each ray.

Range uncertainty includes both, sensor noise and large non-linear effects caused by borders and discontinuities in the environment as seen from different robot poses.

Parameters

in_params	[IN] Input settings. See TLaserSimulUncertaintyParams
in_params	[OUT] Output range + uncertainty.

See also: laserScanSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 238 of file COccupancyGridMap2D_simulate.cpp.

◆ loadFromBitmap()

bool COccupancyGridMap2D::loadFromBitmap	(	const mrpt::utils::CImage &	img,
		float	resolution,
		float	xCentralPixel = `-1`,
		float	yCentralPixel = `-1`
	)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

See loadFromBitmapFile() for the meaning of parameters

Definition at line 307 of file COccupancyGridMap2D_io.cpp.

References mrpt::utils::CImage::getAsFloat(), mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), min, MRPT_END, MRPT_START, and setSize().

◆ loadFromBitmapFile()

bool COccupancyGridMap2D::loadFromBitmapFile	(	const std::string &	file,
		float	resolution,
		float	xCentralPixel = `-1`,
		float	yCentralPixel = `-1`
	)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

Parameters

file	The file to be loaded.
resolution	The size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
xCentralPixel	The `x` coordinate (0=first, increases left to right on the image) for the pixel which will be taken at coordinates origin (0,0). (Default: the center of the image)
yCentralPixel	The `y` coordinate (0=first, increases BOTTOM upwards on the image) for the pixel which will be taken at coordinates origin (0,0). (Default: the center of the image)

Returns: False on any error.

See also: loadFromBitmap

Definition at line 286 of file COccupancyGridMap2D_io.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap & Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 48 of file CMetricMap.cpp.

References mrpt::utils::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by run_test_pf_localization().

◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap & Map )

inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 105 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::COccupancyGridMap2D::MapDefinition ( )

static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 29 of file COccupancyGridMap2D_common.cpp.

◆ OnPostSuccesfulInsertObs()

void COccupancyGridMap2D::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation * )

protectedvirtual

See base class.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 1205 of file COccupancyGridMap2D_insert.cpp.

References m_is_empty.

◆ operator delete() [1/3]

void mrpt::maps::COccupancyGridMap2D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator delete() [2/3]

void mrpt::maps::COccupancyGridMap2D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator delete() [3/3]

void mrpt::maps::COccupancyGridMap2D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator delete[]()

void mrpt::maps::COccupancyGridMap2D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator new() [1/3]

void* mrpt::maps::COccupancyGridMap2D::operator new ( size_t size )

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator new() [2/3]

void* mrpt::maps::COccupancyGridMap2D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator new() [3/3]

static void* mrpt::maps::COccupancyGridMap2D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ operator new[]()

void* mrpt::maps::COccupancyGridMap2D::operator new[] ( size_t size )

inline

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ p2l()

static cellType mrpt::maps::COccupancyGridMap2D::p2l ( const float p )

inlinestatic

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.

Definition at line 261 of file maps/COccupancyGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), determineMatching2D(), fill(), setSize(), subSample(), and updateCell().

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 49 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ readFromStream()

void COccupancyGridMap2D::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 123 of file COccupancyGridMap2D_io.cpp.

References ASSERT_, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, setSize(), and version.

◆ resizeGrid()

void COccupancyGridMap2D::resizeGrid	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		float	new_cells_default_value = `0.5f`,
		bool	additionalMargin = `true`
	)

Change the size of gridmap, maintaining previous contents.

Parameters

new_x_min	The "x" coordinates of new left most side of grid.
new_x_max	The "x" coordinates of new right most side of grid.
new_y_min	The "y" coordinates of new top most side of grid.
new_y_max	The "y" coordinates of new bottom most side of grid.
new_cells_default_value	The value of the new cells, tipically 0.5.
additionalMargin	If set to true (default), an additional margin of a few meters will be added to the grid, ONLY if the new coordinates are larger than current ones.

See also: setSize

Definition at line 212 of file COccupancyGridMap2D_common.cpp.

References mrpt::system::os::memcpy(), min, and mrpt::utils::round().

◆ saveAsBitmapFile()

bool COccupancyGridMap2D::saveAsBitmapFile ( const std::string & file ) const

Saves the gridmap as a graphical file (BMP,PNG,...).

The format will be derived from the file extension (see CImage::saveToFile )

Returns: False on any error.

Definition at line 34 of file COccupancyGridMap2D_io.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ saveAsBitmapFileWithLandmarks()

template<class CLANDMARKSMAP >

bool mrpt::maps::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks	(	const std::string &	file,
		const CLANDMARKSMAP *	landmarks,
		bool	addTextLabels = `false`,
		const mrpt::utils::TColor &	marks_color = `mrpt::utils::TColor(0,0,255)`
	)		const

inline

Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.

Note: The template parameter CLANDMARKSMAP is assumed to be mrpt::maps::CLandmarksMap normally.

Returns: False on any error.

Definition at line 689 of file maps/COccupancyGridMap2D.h.

References mrpt::format(), MRPT_END, and MRPT_START.

◆ saveAsBitmapTwoMapsWithCorrespondences()

bool COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences	(	const std::string &	fileName,
		const COccupancyGridMap2D *	m1,
		const COccupancyGridMap2D *	m2,
		const mrpt::utils::TMatchingPairList &	corrs
	)

static

Saves a composite image with two gridmaps and lines representing a set of correspondences between them.

See also: saveAsEMFTwoMapsWithCorrespondences

Returns: False on any error.

Definition at line 356 of file COccupancyGridMap2D_io.cpp.

References mrpt::random::CRandomGenerator::drawUniform(), getAsImage(), MRPT_END, MRPT_START, mrpt::random::randomGenerator, x2idx(), and y2idx().

◆ saveAsEMFTwoMapsWithCorrespondences()

bool COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences	(	const std::string &	fileName,
		const COccupancyGridMap2D *	m1,
		const COccupancyGridMap2D *	m2,
		const mrpt::utils::TMatchingPairList &	corrs
	)

static

Saves a composite image with two gridmaps and numbers for the correspondences between them.

See also: saveAsBitmapTwoMapsWithCorrespondences

Returns: False on any error.

/

Draw the correspondences as lines:

for (i=0;i<n;i++) { lineColor = ((unsigned long)RandomUni(0,255.0f)) + (((unsigned long)RandomUni(0,255.0f)) << 8 ) + (((unsigned long)RandomUni(0,255.0f)) << 16 );

emf.line( m1->x2idx( corrs[i].this_x ), Ay1+ly1-1- m1->y2idx( corrs[i].this_y ), lx1+1+ m2->x2idx( corrs[i].other_x ), Ay2+ly2-1-m2->y2idx( corrs[i].other_y ), lineColor); } // i /

Definition at line 444 of file COccupancyGridMap2D_io.cpp.

References getAsImage(), mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), MRPT_END, MRPT_START, red, mrpt::system::os::sprintf(), x2idx(), and y2idx().

◆ saveMetricMapRepresentationToFile()

void COccupancyGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::maps::CMetricMap.

Definition at line 558 of file COccupancyGridMap2D_io.cpp.

References mrpt::math::MATRIX_FORMAT_FIXED.

Referenced by mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

◆ setBasisCell()

void mrpt::maps::COccupancyGridMap2D::setBasisCell	(	int	x,
		int	y,
		uint8_t	value
	)

inline

Change a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 300 of file maps/COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

◆ setCell()

void mrpt::maps::COccupancyGridMap2D::setCell	(	int	x,
		int	y,
		float	value
	)

inline

Change the contents [0,1] of a cell, given its index.

Definition at line 266 of file maps/COccupancyGridMap2D.h.

Referenced by run_rnav_test().

◆ setCell_nocheck()

void mrpt::maps::COccupancyGridMap2D::setCell_nocheck	(	int	x,
		int	y,
		float	value
	)

inlineprotected

Change the contents [0,1] of a cell, given its index.

Definition at line 124 of file maps/COccupancyGridMap2D.h.

◆ setPos()

void mrpt::maps::COccupancyGridMap2D::setPos	(	float	x,
		float	y,
		float	value
	)

inline

Change the contents [0,1] of a cell, given its coordinates.

Definition at line 290 of file maps/COccupancyGridMap2D.h.

◆ setRawCell()

void mrpt::maps::COccupancyGridMap2D::setRawCell	(	unsigned int	cellIndex,
		cellType	b
	)

inlineprotected

Changes a cell by its absolute index (Do not use it normally)

Definition at line 133 of file maps/COccupancyGridMap2D.h.

◆ setSize()

void COccupancyGridMap2D::setSize	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution,
		float	default_value = `0.5f`
	)

Change the size of gridmap, erasing all its previous contents.

Parameters

x_min	The "x" coordinates of left most side of grid.
x_max	The "x" coordinates of right most side of grid.
y_min	The "y" coordinates of top most side of grid.
y_max	The "y" coordinates of bottom most side of grid.
resolution	The new size of cells.
default_value	The value of cells, tipically 0.5.

See also: ResizeGrid

Definition at line 149 of file COccupancyGridMap2D_common.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< T >::clear(), freeMap(), m_basis_map, m_is_empty, m_voronoi_diagram, map, MRPT_END, MRPT_START, p2l(), precomputedLikelihoodToBeRecomputed, resolution, mrpt::utils::round(), size_x, size_y, x_max, x_min, y_max, and y_min.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), COccupancyGridMap2D(), internal_clear(), run_rnav_test(), and subSample().

◆ setVoroniClearance()

void mrpt::maps::COccupancyGridMap2D::setVoroniClearance	(	int	cx,
		int	cy,
		uint16_t	dist
	)

inlineprotected

Used to set the clearance of a cell, while building the Voronoi diagram.

Definition at line 482 of file maps/COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

◆ simulateScanRay()

void COccupancyGridMap2D::simulateScanRay	(	const double	x,
		const double	y,
		const double	angle_direction,
		float &	out_range,
		bool &	out_valid,
		const double	max_range_meters,
		const float	threshold_free = `0.4f`,
		const double	noiseStd = `.0`,
		const double	angleNoiseStd = `.0`
	)		const

Simulate just one "ray" in the grid map.

This method is used internally to sonarSimulator and laserScanSimulator.

See also: COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 113 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), int_x2idx, int_y2idx, INTPRECNUMBIT, mrpt::random::randomGenerator, and mrpt::utils::round().

Referenced by func_laserSimul_callback().

◆ sonarSimulator()

void COccupancyGridMap2D::sonarSimulator	(	mrpt::obs::CObservationRange &	inout_observation,
		const mrpt::poses::CPose2D &	robotPose,
		float	threshold = `0.5f`,
		float	rangeNoiseStd = `0.f`,
		float	angleNoiseStd = `mrpt::utils::DEG2RAD(0.f)`
	)		const

Simulates the observations of a sonar rig into the current grid map.

The simulated ranges are stored in a CObservationRange object, which is also used to pass in some needed parameters, as the poses of the sonar sensors onto the mobile robot.

Parameters

inout_observation	[IN/OUT] This must be filled with desired parameters before calling, and will contain the simulated ranges on return.
robotPose	[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold	[IN] The minimum occupancy threshold to consider a cell to be occupied (Default: 0.5f)
rangeNoiseStd	[IN] The standard deviation of measurement noise. If not desired, set to 0.
angleNoiseStd	[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).

See also: laserScanSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 74 of file COccupancyGridMap2D_simulate.cpp.

References ASSERT_, mrpt::obs::CObservationRange::begin(), DEG2RAD, mrpt::obs::CObservationRange::end(), mrpt::obs::CObservationRange::maxSensorDistance, mrpt::poses::CPose2D::phi(), mrpt::utils::round(), mrpt::obs::CObservationRange::sensorConeApperture, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 178 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ subSample()

void COccupancyGridMap2D::subSample ( int downRatio )

Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.

Definition at line 498 of file COccupancyGridMap2D_common.cpp.

References ASSERT_, getCell(), map, p2l(), resolution, mrpt::utils::round(), setSize(), x_max, x_min, y_max, and y_min.

◆ updateCell()

void COccupancyGridMap2D::updateCell	(	int	x,
		int	y,
		float	v
	)

Performs the Bayesian fusion of a new observation of a cell.

See also: updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free

Definition at line 459 of file COccupancyGridMap2D_common.cpp.

References mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::cellsUpdated, mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::enabled, H(), mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::I_change, l2p(), map, MAX_H, OCCGRID_CELLTYPE_MAX, OCCGRID_CELLTYPE_MIN, p2l(), size_x, size_y, and updateInfoChangeOnly.

◆ updateCell_fast_free() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< int16_t >::updateCell_fast_free	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 102 of file maps/CLogOddsGridMap2D.h.

◆ updateCell_fast_free() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< int16_t >::updateCell_fast_free	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 124 of file maps/CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< int16_t >::updateCell_fast_occupied	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 63 of file maps/CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< int16_t >::updateCell_fast_occupied	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 84 of file maps/CLogOddsGridMap2D.h.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void COccupancyGridMap2D::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 53 of file COccupancyGridMap2D_io.cpp.

References ASSERT_, version, mrpt::utils::CStream::WriteBuffer(), and mrpt::utils::CStream::WriteBufferFixEndianness().

◆ x2idx() [1/3]

int mrpt::maps::COccupancyGridMap2D::x2idx ( float x ) const

inline

Transform a coordinate value into a cell index.

Definition at line 238 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), run_rnav_test(), saveAsBitmapTwoMapsWithCorrespondences(), and saveAsEMFTwoMapsWithCorrespondences().

◆ x2idx() [2/3]

int mrpt::maps::COccupancyGridMap2D::x2idx ( double x ) const

inline

Definition at line 241 of file maps/COccupancyGridMap2D.h.

◆ x2idx() [3/3]

int mrpt::maps::COccupancyGridMap2D::x2idx	(	float	x,
		float	x_min
	)		const

inline

Transform a coordinate value into a cell index, using a diferent "x_min" value.

Definition at line 249 of file maps/COccupancyGridMap2D.h.

◆ y2idx() [1/3]

int mrpt::maps::COccupancyGridMap2D::y2idx ( float y ) const

inline

Definition at line 239 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), run_rnav_test(), saveAsBitmapTwoMapsWithCorrespondences(), and saveAsEMFTwoMapsWithCorrespondences().

◆ y2idx() [2/3]

int mrpt::maps::COccupancyGridMap2D::y2idx ( double y ) const

inline

Definition at line 242 of file maps/COccupancyGridMap2D.h.

◆ y2idx() [3/3]

int mrpt::maps::COccupancyGridMap2D::y2idx	(	float	y,
		float	y_min
	)		const

inline

Definition at line 250 of file maps/COccupancyGridMap2D.h.

Friends And Related Function Documentation

◆ CMultiMetricMap

friend class CMultiMetricMap

friend

Backward compatible typedef.

Definition at line 92 of file maps/COccupancyGridMap2D.h.

◆ CMultiMetricMapPDF

friend class CMultiMetricMapPDF

friend

Backward compatible typedef.

Definition at line 93 of file maps/COccupancyGridMap2D.h.

Member Data Documentation

◆ _init_COccupancyGridMap2D

mrpt::utils::CLASSINIT mrpt::maps::COccupancyGridMap2D::_init_COccupancyGridMap2D

staticprotected

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ CELLTYPE_MAX

const int16_t mrpt::maps::detail::logoddscell_traits< int16_t >::CELLTYPE_MAX = 32767

staticinherited

Definition at line 35 of file maps/CLogOddsGridMap2D.h.

◆ CELLTYPE_MIN

const int16_t mrpt::maps::detail::logoddscell_traits< int16_t >::CELLTYPE_MIN = -32767

staticinherited

Definition at line 34 of file maps/CLogOddsGridMap2D.h.

◆ classCMetricMap

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap

staticinherited

Definition at line 57 of file maps/CMetricMap.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 128 of file CObject.h.

◆ classCOccupancyGridMap2D

mrpt::utils::TRuntimeClassId mrpt::maps::COccupancyGridMap2D::classCOccupancyGridMap2D

static

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::maps::COccupancyGridMap2D::classinfo

static

Definition at line 71 of file maps/COccupancyGridMap2D.h.

◆ CriticalPointsList

struct MAPS_IMPEXP mrpt::maps::COccupancyGridMap2D::TCriticalPointsList mrpt::maps::COccupancyGridMap2D::CriticalPointsList

◆ direccion_vecino_x

int mrpt::maps::COccupancyGridMap2D::direccion_vecino_x[8]

private

Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.

See also: direction2idx

Definition at line 804 of file maps/COccupancyGridMap2D.h.

◆ direccion_vecino_y

int mrpt::maps::COccupancyGridMap2D::direccion_vecino_y[8]

private

Definition at line 804 of file maps/COccupancyGridMap2D.h.

◆ entropyTable

std::vector< float > COccupancyGridMap2D::entropyTable

staticprotected

Internally used to speed-up entropy calculation.

Definition at line 121 of file maps/COccupancyGridMap2D.h.

Referenced by computeEntropy().

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 227 of file maps/CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CReflectivityGridMap2D::writeToStream().

◆ insertionOptions

TInsertionOptions mrpt::maps::COccupancyGridMap2D::insertionOptions

With this struct options are provided to the observation insertion process.

See also: CObservation::insertIntoGridMap

Definition at line 378 of file maps/COccupancyGridMap2D.h.

Referenced by internal_canComputeObservationLikelihood().

◆ likelihoodOptions

mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions mrpt::maps::COccupancyGridMap2D::likelihoodOptions

◆ likelihoodOutputs

class mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput mrpt::maps::COccupancyGridMap2D::likelihoodOutputs

◆ LOGODDS_LUT_ENTRIES

const size_t mrpt::maps::detail::logoddscell_traits< int16_t >::LOGODDS_LUT_ENTRIES = 1<<16

staticinherited

Definition at line 37 of file maps/CLogOddsGridMap2D.h.

◆ m_basis_map

mrpt::utils::CDynamicGrid<uint8_t> mrpt::maps::COccupancyGridMap2D::m_basis_map

protected

Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.

Definition at line 107 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), and setSize().

◆ m_is_empty

bool mrpt::maps::COccupancyGridMap2D::m_is_empty

protected

True upon construction; used by isEmpty()

Definition at line 114 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), isEmpty(), OnPostSuccesfulInsertObs(), and setSize().

◆ m_logodd_lut

CLogOddsGridMapLUT< COccupancyGridMap2D::cellType > COccupancyGridMap2D::m_logodd_lut

staticprotected

Lookup tables for log-odds.

Definition at line 96 of file maps/COccupancyGridMap2D.h.

◆ m_private_map_register_id

const size_t mrpt::maps::COccupancyGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "COccupancyGridMap2D,occupancyGrid" ,& mrpt::maps::COccupancyGridMap2D ::MapDefinition,& mrpt::maps::COccupancyGridMap2D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 817 of file maps/COccupancyGridMap2D.h.

◆ m_voronoi_diagram

mrpt::utils::CDynamicGrid<uint16_t> mrpt::maps::COccupancyGridMap2D::m_voronoi_diagram

protected

Used to store the Voronoi diagram.

Contains the distance of each cell to its closer obstacles in 1/100th distance units (i.e. in centimeters), or 0 if not into the Voronoi diagram

Definition at line 112 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), and setSize().

◆ map

std::vector<cellType> mrpt::maps::COccupancyGridMap2D::map

protected

Store of cell occupancy values. Order: row by row, from left to right.

Definition at line 98 of file maps/COccupancyGridMap2D.h.

Referenced by computeEntropy(), copyMapContentFrom(), determineMatching2D(), fill(), freeMap(), setSize(), subSample(), and updateCell().

◆ OCCGRID_CELLTYPE_MAX

const cellType mrpt::maps::COccupancyGridMap2D::OCCGRID_CELLTYPE_MAX = CLogOddsGridMap2D<cellType>::CELLTYPE_MAX

static

Definition at line 85 of file maps/COccupancyGridMap2D.h.

Referenced by updateCell().

◆ OCCGRID_CELLTYPE_MIN

const cellType mrpt::maps::COccupancyGridMap2D::OCCGRID_CELLTYPE_MIN = CLogOddsGridMap2D<cellType>::CELLTYPE_MIN

static

Discrete to float conversion factors: The min/max values of the integer cell type, eg.

[0,255] or [0,65535]

Definition at line 84 of file maps/COccupancyGridMap2D.h.

Referenced by updateCell().

◆ OCCGRID_P2LTABLE_SIZE

const cellType mrpt::maps::COccupancyGridMap2D::OCCGRID_P2LTABLE_SIZE = CLogOddsGridMap2D<cellType>::P2LTABLE_SIZE

static

Definition at line 86 of file maps/COccupancyGridMap2D.h.

◆ P2LTABLE_SIZE

const int16_t mrpt::maps::detail::logoddscell_traits< int16_t >::P2LTABLE_SIZE = CELLTYPE_MAX

staticinherited

Definition at line 36 of file maps/CLogOddsGridMap2D.h.

◆ precomputedLikelihood

std::vector<double> mrpt::maps::COccupancyGridMap2D::precomputedLikelihood

protected

Auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).

Definition at line 103 of file maps/COccupancyGridMap2D.h.

◆ precomputedLikelihoodToBeRecomputed

bool mrpt::maps::COccupancyGridMap2D::precomputedLikelihoodToBeRecomputed

protected

Definition at line 104 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), fill(), freeMap(), internal_clear(), and setSize().

◆ RAYTRACE_STEP_SIZE_IN_CELL_UNITS

double COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS = 0.8

static

(Default:1.0) Can be set to <1 if a more fine raytracing is needed in sonarSimulator() and laserScanSimulator(), or >1 to speed it up.

Definition at line 88 of file maps/COccupancyGridMap2D.h.

◆ resolution

float mrpt::maps::COccupancyGridMap2D::resolution

protected

Cell size, i.e. resolution of the grid map.

Definition at line 101 of file maps/COccupancyGridMap2D.h.

Referenced by COccupancyGridMap2D(), computeEntropy(), computePathCost(), copyMapContentFrom(), determineMatching2D(), laserScanSimulatorWithUncertainty(), setSize(), and subSample().

◆ size_x

uint32_t mrpt::maps::COccupancyGridMap2D::size_x

protected

Definition at line 99 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), freeMap(), setSize(), and updateCell().

◆ size_y

uint32_t mrpt::maps::COccupancyGridMap2D::size_y

protected

The size of the grid in cells.

Definition at line 99 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), freeMap(), setSize(), and updateCell().

◆ updateInfoChangeOnly

struct MAPS_IMPEXP mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly mrpt::maps::COccupancyGridMap2D::updateInfoChangeOnly

Referenced by updateCell().

◆ voroni_free_threshold

float mrpt::maps::COccupancyGridMap2D::voroni_free_threshold

protected

The free-cells threshold used to compute the Voronoi diagram.

Definition at line 118 of file maps/COccupancyGridMap2D.h.

◆ x_max

float mrpt::maps::COccupancyGridMap2D::x_max

protected

Definition at line 100 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), setSize(), and subSample().

◆ x_min

float mrpt::maps::COccupancyGridMap2D::x_min

protected

Definition at line 100 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), setSize(), and subSample().

◆ y_max

float mrpt::maps::COccupancyGridMap2D::y_max

protected

The limits of the grid in "units" (meters)

Definition at line 100 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), setSize(), and subSample().

◆ y_min

float mrpt::maps::COccupancyGridMap2D::y_min

protected

Definition at line 100 of file maps/COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), determineMatching2D(), setSize(), and subSample().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Private Attributes

Friends

RTTI stuff

Voronoi methods

Sensor simulators

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{

Member Typedef Documentation

◆ cell_t

◆ cellType

◆ cellTypeUnsigned

◆ ConstPtr

◆ Ptr

◆ TPairLikelihoodIndex

◆ traits_t

Member Enumeration Documentation

◆ TLaserSimulUncertaintyMethod

◆ TLikelihoodMethod

Constructor & Destructor Documentation

◆ COccupancyGridMap2D()

◆ ~COccupancyGridMap2D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ buildVoronoiDiagram()

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeClearance() [1/2]

◆ computeClearance() [2/2]

◆ computeEntropy()

◆ computeLikelihoodField_II()

◆ computeLikelihoodField_Thrun()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationLikelihood_CellsDifference()

◆ computeObservationLikelihood_Consensus()

◆ computeObservationLikelihood_ConsensusOWA()

◆ computeObservationLikelihood_likelihoodField_II()

◆ computeObservationLikelihood_likelihoodField_Thrun()

◆ computeObservationLikelihood_MI()

◆ computeObservationLikelihood_rayTracing()

◆ computeObservationsLikelihood()

◆ computePathCost()

◆ copyMapContentFrom()

◆ Create()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ determineMatching2D()

◆ determineMatching3D()

◆ direction2idx()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ fill()

◆ findCriticalPoints()

◆ freeMap()

◆ getArea()

◆ getAs3DObject()

◆ getAsImage()

◆ getAsImageFiltered()

◆ getAsPointCloud()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getBasisCell()

◆ getBasisMap()

◆ getCell()