mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks Struct Reference

Detailed Description

The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.

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

#include <mrpt/maps/CLandmarksMap.h>

Public Types
typedef internal::TSequenceLandmarks::iterator	iterator
typedef internal::TSequenceLandmarks::const_iterator	const_iterator

Public Member Functions
	TCustomSequenceLandmarks ()
	Default constructor. More...
iterator	begin ()
iterator	end ()
void	clear ()
size_t	size () const
const_iterator	begin () const
const_iterator	end () const
void	push_back (const CLandmark &lm)
	The object is copied, thus the original copy passed as a parameter can be released. More...
CLandmark *	get (unsigned int indx)
const CLandmark *	get (unsigned int indx) const
void	isToBeModified (unsigned int indx)
void	hasBeenModified (unsigned int indx)
void	hasBeenModifiedAll ()
void	erase (unsigned int indx)
mrpt::utils::CDynamicGrid< vector_int > *	getGrid ()
const CLandmark *	getByID (CLandmark::TLandmarkID ID) const
	Returns the landmark with a given landmrk ID, or NULL if not found. More...
const CLandmark *	getByBeaconID (unsigned int ID) const
	Returns the landmark with a given beacon ID, or NULL if not found. More...
float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...

Private Attributes
internal::TSequenceLandmarks	m_landmarks
	The actual list. More...
mrpt::utils::CDynamicGrid< vector_int >	m_grid
	A grid-map with the set of landmarks falling into each cell. More...
float	m_largestDistanceFromOrigin
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...
bool	m_largestDistanceFromOriginIsUpdated
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

Member Typedef Documentation

const_iterator

typedef internal::TSequenceLandmarks::const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator

Definition at line 122 of file maps/CLandmarksMap.h.

iterator

typedef internal::TSequenceLandmarks::iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator

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

Constructor & Destructor Documentation

TCustomSequenceLandmarks()

CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks

(

)

Default constructor.

Definition at line 1705 of file CLandmarksMap.cpp.

Member Function Documentation

begin() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( )

inline

Definition at line 119 of file maps/CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::vision::StereoObs2BRObs(), and mrpt::maps::CLandmarksMap::writeToStream().

begin() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( ) const

inline

Definition at line 125 of file maps/CLandmarksMap.h.

clear()

void CLandmarksMap::TCustomSequenceLandmarks::clear

(

)

Definition at line 1713 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::CLandmarksMap(), mrpt::maps::CLandmarksMap::internal_clear(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::readFromStream(), and mrpt::maps::CLandmarksMap::~CLandmarksMap().

end() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( )

inline

Definition at line 120 of file maps/CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::vision::StereoObs2BRObs(), and mrpt::maps::CLandmarksMap::writeToStream().

end() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( ) const

inline

Definition at line 126 of file maps/CLandmarksMap.h.

erase()

void CLandmarksMap::TCustomSequenceLandmarks::erase

(

unsigned int

indx

)

Definition at line 1771 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

get() [1/2]

CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get

(

unsigned int

indx

)

Definition at line 1744 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::fuseWith().

get() [2/2]

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get

(

unsigned int

indx

)

const

Definition at line 1749 of file CLandmarksMap.cpp.

getByBeaconID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID

(

unsigned int

ID

)

const

Returns the landmark with a given beacon ID, or NULL if not found.

Definition at line 2393 of file CLandmarksMap.cpp.

Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

getByID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID

(

CLandmark::TLandmarkID

ID

)

const

Returns the landmark with a given landmrk ID, or NULL if not found.

Definition at line 2373 of file CLandmarksMap.cpp.

getGrid()

mrpt::utils::CDynamicGrid<vector_int>* mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getGrid ( )

inline

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

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007().

getLargestDistanceFromOrigin()

float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin

(

)

const

This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).

Definition at line 1831 of file CLandmarksMap.cpp.

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

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

hasBeenModified()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified

(

unsigned int

indx

)

Definition at line 1777 of file CLandmarksMap.cpp.

References min.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

hasBeenModifiedAll()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModifiedAll

(

)

Definition at line 1794 of file CLandmarksMap.cpp.

References min, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference().

isToBeModified()

void CLandmarksMap::TCustomSequenceLandmarks::isToBeModified

(

unsigned int

indx

)

Definition at line 1754 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

push_back()

void CLandmarksMap::TCustomSequenceLandmarks::push_back

(

const CLandmark &

lm

)

The object is copied, thus the original copy passed as a parameter can be released.

Definition at line 1723 of file CLandmarksMap.cpp.

References ASSERT_, min, mrpt::maps::CLandmark::pose_mean, mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), mrpt::maps::CLandmarksMap::readFromStream(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

size()

size_t mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::size ( ) const

inline

Definition at line 122 of file maps/CLandmarksMap.h.

Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::size(), and mrpt::maps::CLandmarksMap::writeToStream().

Member Data Documentation

m_grid

mrpt::utils::CDynamicGrid<vector_int> mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_grid

private

A grid-map with the set of landmarks falling into each cell.

Todo:

Use the KD-tree instead?

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

m_landmarks

internal::TSequenceLandmarks mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_landmarks

private

The actual list.

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

m_largestDistanceFromOrigin

float mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOrigin

mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 106 of file maps/CLandmarksMap.h.

m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOriginIsUpdated

mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 111 of file maps/CLandmarksMap.h.