CHeightGridMap2D_MRF.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CHeightGridMap2D_MRF_MRF_H
#define CHeightGridMap2D_MRF_MRF_H

#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/maps/CHeightGridMap2D_Base.h>
#include <mrpt/maps/link_pragmas.h>

namespace mrpt
{
namespace maps
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHeightGridMap2D_MRF , CRandomFieldGridMap2D, MAPS_IMPEXP )

        /** CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty, based on a Markov-Random-Field (MRF) estimator.
          *
          *  There are a number of methods available to build the gas grid-map, depending on the value of
          *    "TMapRepresentation maptype" passed in the constructor (see base class mrpt::maps::CRandomFieldGridMap2D).
          *
          * Update the map with insertIndividualReading() or insertObservation()
          *
          * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap
          * \note New in MRPT 1.4.0
          * \ingroup mrpt_maps_grp
          */
        class MAPS_IMPEXP CHeightGridMap2D_MRF : public CRandomFieldGridMap2D, public CHeightGridMap2D_Base
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CHeightGridMap2D_MRF )
        public:
                /** Constructor */
                CHeightGridMap2D_MRF(
                        TMapRepresentation      mapType = mrGMRF_SD,
                        double x_min = -2, double x_max = 2,
                        double y_min = -2, double y_max = 2, double resolution = 0.5,
                        bool  run_first_map_estimation_now=true  //!< [in] Whether to call updateMapEstimation(). If false, make sure of calling that function before accessing map contents.
                        );

                /** Parameters related with inserting observations into the map */
                struct MAPS_IMPEXP TInsertionOptions :
                        public utils::CLoadableOptions,
                        public TInsertionOptionsCommon
                {
                        TInsertionOptions();    //!< Default values loader

                        void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
                        void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
                } insertionOptions;

                /** Returns a 3D object representing the map */
                virtual void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj ) const MRPT_OVERRIDE;

                /** Returns two 3D objects representing the mean and variance maps */
                virtual void  getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr    &meanObj, mrpt::opengl::CSetOfObjectsPtr        &varObj ) const MRPT_OVERRIDE;

                virtual bool insertIndividualPoint(const double x,const double y,const double z, const CHeightGridMap2D_Base::TPointInsertParams & params = CHeightGridMap2D_Base::TPointInsertParams() ) MRPT_OVERRIDE;
                virtual double dem_get_resolution() const  MRPT_OVERRIDE;
                virtual size_t dem_get_size_x() const  MRPT_OVERRIDE;
                virtual size_t dem_get_size_y() const  MRPT_OVERRIDE;
                virtual bool   dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const  MRPT_OVERRIDE;
                virtual bool   dem_get_z(const double x, const double y, double &z_out) const  MRPT_OVERRIDE;
                virtual void   dem_update_map() MRPT_OVERRIDE;

                /** Get the part of the options common to all CRandomFieldGridMap2D classes */
                virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions()  MRPT_OVERRIDE {
                        return &insertionOptions;
                }

                // See docs in base class
                void  internal_clear() MRPT_OVERRIDE;
                bool  internal_insertObservation( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
                double internal_computeObservationLikelihood( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom ) MRPT_OVERRIDE;

                MAP_DEFINITION_START(CHeightGridMap2D_MRF,MAPS_IMPEXP)
                        bool    run_map_estimation_at_ctor;  //!< Runs map estimation at start up (Default:true)
                        double  min_x,max_x,min_y,max_y,resolution;     //!< See CHeightGridMap2D_MRF::CHeightGridMap2D_MRF
                        mrpt::maps::CHeightGridMap2D_MRF::TMapRepresentation  mapType;  //!< The kind of map representation (see CHeightGridMap2D_MRF::CHeightGridMap2D_MRF)
                        mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions   insertionOpts;    //!< Observations insertion options
                MAP_DEFINITION_END(CHeightGridMap2D_MRF,MAPS_IMPEXP)
        };

        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CHeightGridMap2D_MRF , CRandomFieldGridMap2D, MAPS_IMPEXP )

        } // End of namespace
} // End of namespace
#endif