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mrpt::maps::CSimpleMap Class Reference

Detailed Description

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.

The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.

Note
Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".
Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility.
See Also
CSensoryFrame, CPosePDF

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

#include <mrpt/maps/CSimpleMap.h>

Inheritance diagram for mrpt::maps::CSimpleMap:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CSimpleMap ()
 Default constructor (empty map) More...
 
 CSimpleMap (const CSimpleMap &o)
 Copy constructor. More...
 
virtual ~CSimpleMap ()
 Destructor: More...
 
CSimpleMapoperator= (const CSimpleMap &o)
 Copy. More...
 
virtual mxArraywriteToMatlab () 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
Map access and modification
bool saveToFile (const std::string &filName) const
 Save this object to a .simplemap binary file (compressed with gzip) More...
 
bool loadFromFile (const std::string &filName)
 Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) More...
 
size_t size () const
 Returns the count of pairs (pose,sensory data) More...
 
bool empty () const
 Returns size()!=0. More...
 
void get (size_t index, mrpt::poses::CPose3DPDFPtr &out_posePDF, mrpt::obs::CSensoryFramePtr &out_SF) const
 Access to the i'th pair, first one is index '0'. More...
 
void set (size_t index, const mrpt::poses::CPose3DPDFPtr &in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Changes the i'th pair, first one is index '0'. More...
 
void set (size_t index, const mrpt::poses::CPosePDFPtr &in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Changes the i'th pair, first one is index '0'. More...
 
void remove (size_t index)
 Deletes the i'th pair, first one is index '0'. More...
 
void insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...
 
void insert (const mrpt::poses::CPose3DPDFPtr &in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...
 
void insert (const mrpt::poses::CPosePDFPtr &in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFramePtr &in_SF)
 Add a new pair to the sequence. More...
 
void clear ()
 Remove all stored pairs. More...
 
void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
 Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Static Public Attributes

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

Protected Member Functions

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...
 

Private Attributes

TPosePDFSensFramePairList m_posesObsPairs
 The stored data. More...
 

RTTI stuff

typedef CSimpleMapPtr Ptr
 
typedef CSimpleMapPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CSimpleMap
 
static mrpt::utils::TRuntimeClassId classCSimpleMap
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CSimpleMapPtr Create ()
 

Iterators API

typedef std::pair
< mrpt::poses::CPose3DPDFPtr,
mrpt::obs::CSensoryFramePtr > 
TPosePDFSensFramePair
 
typedef std::deque
< TPosePDFSensFramePair
TPosePDFSensFramePairList
 
typedef
TPosePDFSensFramePairList::const_iterator 
const_iterator
 
typedef
TPosePDFSensFramePairList::iterator 
iterator
 
typedef
TPosePDFSensFramePairList::reverse_iterator 
reverse_iterator
 
typedef
TPosePDFSensFramePairList::const_reverse_iterator 
const_reverse_iterator
 
const_iterator begin () const
 
const_iterator end () const
 
iterator begin ()
 
iterator end ()
 
const_reverse_iterator rbegin () const
 
const_reverse_iterator rend () const
 
reverse_iterator rbegin ()
 
reverse_iterator rend ()
 

Member Typedef Documentation

typedef TPosePDFSensFramePairList::const_iterator mrpt::maps::CSimpleMap::const_iterator

Definition at line 130 of file maps/CSimpleMap.h.

typedef TPosePDFSensFramePairList::const_reverse_iterator mrpt::maps::CSimpleMap::const_reverse_iterator

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

typedef CSimpleMapPtr mrpt::maps::CSimpleMap::ConstPtr

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

typedef TPosePDFSensFramePairList::iterator mrpt::maps::CSimpleMap::iterator

Definition at line 131 of file maps/CSimpleMap.h.

typedef CSimpleMapPtr mrpt::maps::CSimpleMap::Ptr

A typedef for the associated smart pointer

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

typedef TPosePDFSensFramePairList::reverse_iterator mrpt::maps::CSimpleMap::reverse_iterator

Definition at line 132 of file maps/CSimpleMap.h.

typedef std::pair<mrpt::poses::CPose3DPDFPtr,mrpt::obs::CSensoryFramePtr> mrpt::maps::CSimpleMap::TPosePDFSensFramePair

Definition at line 127 of file maps/CSimpleMap.h.

Definition at line 128 of file maps/CSimpleMap.h.

Constructor & Destructor Documentation

CSimpleMap::CSimpleMap ( )

Default constructor (empty map)

Definition at line 32 of file CSimpleMap.cpp.

CSimpleMap::CSimpleMap ( const CSimpleMap o)

Copy constructor.

Definition at line 39 of file CSimpleMap.cpp.

References m_posesObsPairs.

CSimpleMap::~CSimpleMap ( )
virtual

Destructor:

Definition at line 87 of file CSimpleMap.cpp.

References clear().

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CSimpleMap::_GetBaseClass ( )
staticprotected
const_iterator mrpt::maps::CSimpleMap::begin ( ) const
inline

Definition at line 135 of file maps/CSimpleMap.h.

iterator mrpt::maps::CSimpleMap::begin ( )
inline

Definition at line 137 of file maps/CSimpleMap.h.

void CSimpleMap::changeCoordinatesOrigin ( const mrpt::poses::CPose3D newOrigin)

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

Definition at line 318 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin(), and mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes().

void CSimpleMap::clear ( )
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CSimpleMapPtr mrpt::maps::CSimpleMap::Create ( )
static
static mrpt::utils::CObject* mrpt::maps::CSimpleMap::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::maps::CSimpleMap::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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().

bool CSimpleMap::empty ( ) const
const_iterator mrpt::maps::CSimpleMap::end ( ) const
inline

Definition at line 136 of file maps/CSimpleMap.h.

iterator mrpt::maps::CSimpleMap::end ( )
inline

Definition at line 138 of file maps/CSimpleMap.h.

void CSimpleMap::get ( size_t  index,
mrpt::poses::CPose3DPDFPtr &  out_posePDF,
mrpt::obs::CSensoryFramePtr &  out_SF 
) const
virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CSimpleMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void CSimpleMap::insert ( const mrpt::poses::CPose3DPDF in_posePDF,
const mrpt::obs::CSensoryFrame in_SF 
)
void mrpt::maps::CSimpleMap::insert ( const mrpt::poses::CPose3DPDF in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::maps::CSimpleMap::insert ( const mrpt::poses::CPose3DPDFPtr &  in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::maps::CSimpleMap::insert ( const mrpt::poses::CPosePDFPtr &  in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void CSimpleMap::insert ( const mrpt::poses::CPosePDF in_posePDF,
const mrpt::obs::CSensoryFrame in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 218 of file CSimpleMap.cpp.

References mrpt::utils::CObject::duplicate(), m_posesObsPairs, MRPT_END, and MRPT_START.

void mrpt::maps::CSimpleMap::insert ( const mrpt::poses::CPosePDF in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

bool CSimpleMap::loadFromFile ( const std::string filName)

Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)

See Also
saveToFile
Returns
false on any error.

Definition at line 346 of file CSimpleMap.cpp.

void mrpt::maps::CSimpleMap::operator delete ( void ptr)
throw (
)
inline

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

void mrpt::maps::CSimpleMap::operator delete ( void memory,
void ptr 
)
throw (
)
inline

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

void mrpt::maps::CSimpleMap::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

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

void mrpt::maps::CSimpleMap::operator delete[] ( void ptr)
throw (
)
inline

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

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

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

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

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

void* mrpt::maps::CSimpleMap::operator new ( size_t  size)
inline

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

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

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

CSimpleMap & CSimpleMap::operator= ( const CSimpleMap o)

Copy.

Definition at line 48 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

const_reverse_iterator mrpt::maps::CSimpleMap::rbegin ( ) const
inline

Definition at line 140 of file maps/CSimpleMap.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::initialize().

reverse_iterator mrpt::maps::CSimpleMap::rbegin ( )
inline

Definition at line 142 of file maps/CSimpleMap.h.

void CSimpleMap::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 281 of file CSimpleMap.cpp.

References clear(), m_posesObsPairs, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CSimpleMap::remove ( size_t  index)

Deletes the i'th pair, first one is index '0'.

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, set

Definition at line 110 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes().

const_reverse_iterator mrpt::maps::CSimpleMap::rend ( ) const
inline

Definition at line 141 of file maps/CSimpleMap.h.

reverse_iterator mrpt::maps::CSimpleMap::rend ( )
inline

Definition at line 143 of file maps/CSimpleMap.h.

bool CSimpleMap::saveToFile ( const std::string filName) const

Save this object to a .simplemap binary file (compressed with gzip)

See Also
loadFromFile
Returns
false on any error.

Definition at line 328 of file CSimpleMap.cpp.

References CFileGZOutputStream.

void mrpt::maps::CSimpleMap::set ( size_t  index,
const mrpt::poses::CPose3DPDFPtr &  in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, remove
void mrpt::maps::CSimpleMap::set ( size_t  index,
const mrpt::poses::CPosePDFPtr &  in_posePDF,
const mrpt::obs::CSensoryFramePtr &  in_SF 
)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, remove
size_t CSimpleMap::size ( ) const
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.

void CSimpleMap::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 264 of file CSimpleMap.cpp.

References m_posesObsPairs.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CSimpleMap::_init_CSimpleMap
staticprotected

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

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CSerializable.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CSimpleMap::classCSimpleMap
static

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

const mrpt::utils::TRuntimeClassId* mrpt::maps::CSimpleMap::classinfo
static

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

TPosePDFSensFramePairList mrpt::maps::CSimpleMap::m_posesObsPairs
private



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