CWirelessPowerGridMap2D.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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    |
   +---------------------------------------------------------------------------+ */

#include "maps-precomp.h" // Precomp header

#include <mrpt/maps/CWirelessPowerGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>
#include <mrpt/system/os.h>
#include <mrpt/utils/round.h>
#include <mrpt/utils/CTicTac.h>
#include <mrpt/utils/color_maps.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/utils/CStream.h>

using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace std;


//  =========== Begin of Map definition ============
MAP_DEFINITION_REGISTER("CWirelessPowerGridMap2D,wifiGrid", mrpt::maps::CWirelessPowerGridMap2D)

CWirelessPowerGridMap2D::TMapDefinition::TMapDefinition() :
        min_x(-2),
        max_x(2),
        min_y(-2),
        max_y(2),
        resolution(0.10f),
        mapType(CWirelessPowerGridMap2D::mrKernelDM)
{
}

void CWirelessPowerGridMap2D::TMapDefinition::loadFromConfigFile_map_specific(const mrpt::utils::CConfigFileBase  &source, const std::string &sectionNamePrefix)
{
        // [<sectionNamePrefix>+"_creationOpts"]
        const std::string sSectCreation = sectionNamePrefix+string("_creationOpts");
        MRPT_LOAD_CONFIG_VAR(min_x, double ,   source,sSectCreation);
        MRPT_LOAD_CONFIG_VAR(max_x, double ,   source,sSectCreation);
        MRPT_LOAD_CONFIG_VAR(min_y, double ,   source,sSectCreation);
        MRPT_LOAD_CONFIG_VAR(max_y, double ,   source,sSectCreation);
        MRPT_LOAD_CONFIG_VAR(resolution, double ,   source,sSectCreation);
        mapType = source.read_enum<CWirelessPowerGridMap2D::TMapRepresentation>(sSectCreation,"mapType",mapType);

        insertionOpts.loadFromConfigFile(source, sectionNamePrefix+string("_insertOpts") );
}

void CWirelessPowerGridMap2D::TMapDefinition::dumpToTextStream_map_specific(mrpt::utils::CStream &out) const
{
        out.printf("MAP TYPE                                  = %s\n", mrpt::utils::TEnumType<CWirelessPowerGridMap2D::TMapRepresentation>::value2name(mapType).c_str() );
        LOADABLEOPTS_DUMP_VAR(min_x         , double );
        LOADABLEOPTS_DUMP_VAR(max_x         , double );
        LOADABLEOPTS_DUMP_VAR(min_y         , double );
        LOADABLEOPTS_DUMP_VAR(max_y         , double );
        LOADABLEOPTS_DUMP_VAR(resolution         , double );

        this->insertionOpts.dumpToTextStream(out);
}

mrpt::maps::CMetricMap* CWirelessPowerGridMap2D::internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer &_def)
{
        const CWirelessPowerGridMap2D::TMapDefinition &def = *dynamic_cast<const CWirelessPowerGridMap2D::TMapDefinition*>(&_def);
        CWirelessPowerGridMap2D *obj = new CWirelessPowerGridMap2D(def.mapType,def.min_x,def.max_x,def.min_y,def.max_y,def.resolution );
        obj->insertionOptions  = def.insertionOpts;
        return obj;
}
//  =========== End of Map definition Block =========


IMPLEMENTS_SERIALIZABLE(CWirelessPowerGridMap2D, CRandomFieldGridMap2D,mrpt::maps)

/*---------------------------------------------------------------
                                                Constructor
  ---------------------------------------------------------------*/
CWirelessPowerGridMap2D::CWirelessPowerGridMap2D(
        TMapRepresentation      mapType,
        double x_min,
        double x_max,
        double y_min,
        double y_max,
        double resolution ) :
                CRandomFieldGridMap2D(mapType, x_min,x_max,y_min,y_max,resolution ),
                insertionOptions()
{
        // Set the grid to initial values (and adjusts the KF covariance matrix!)
        //  Also, calling clear() is mandatory to end initialization of our base class (read note in CRandomFieldGridMap2D::CRandomFieldGridMap2D)
        CMetricMap::clear();
}

CWirelessPowerGridMap2D::~CWirelessPowerGridMap2D()
{
}

/*---------------------------------------------------------------
                                                clear
  ---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::internal_clear()
{
        // Just do the generic clear:
        CRandomFieldGridMap2D::internal_clear();

        // Anything else special for this derived class?
        // ...
}


/*---------------------------------------------------------------
                                                insertObservation
  ---------------------------------------------------------------*/
bool  CWirelessPowerGridMap2D::internal_insertObservation(
        const CObservation      *obs,
        const CPose3D                   *robotPose )
{
        MRPT_START

        CPose2D         robotPose2D;
        CPose3D         robotPose3D;

        if (robotPose)
        {
                robotPose2D = CPose2D(*robotPose);
                robotPose3D = (*robotPose);
        }
        else
        {
                // Default values are (0,0,0)
        }

        if ( IS_CLASS(obs, CObservationWirelessPower ))
        {
                /********************************************************************
                                        OBSERVATION TYPE: CObservationWirelessPower
                ********************************************************************/
                const CObservationWirelessPower *o = static_cast<const CObservationWirelessPower*>( obs );
                float                                           sensorReading;


                // Compute the 3D sensor pose in world coordinates:
                CPose2D         sensorPose = CPose2D(robotPose3D + o->sensorPoseOnRobot );

                sensorReading = o->power;

                // Normalization:
                sensorReading = (sensorReading - insertionOptions.R_min) /( insertionOptions.R_max - insertionOptions.R_min );

                // Update the gross estimates of mean/vars for the whole reading history (see IROS2009 paper):
                m_average_normreadings_mean = (sensorReading + m_average_normreadings_count*m_average_normreadings_mean)/(1+m_average_normreadings_count);
                m_average_normreadings_var  = (square(sensorReading - m_average_normreadings_mean) + m_average_normreadings_count*m_average_normreadings_var) /(1+m_average_normreadings_count);
                m_average_normreadings_count++;

                // Finally, do the actual map update with that value:
                this->insertIndividualReading(sensorReading, mrpt::math::TPoint2D(sensorPose.x(),sensorPose.y()) );

                return true;    // Done!

        } // end if "CObservationWirelessPower"

        return false;

        MRPT_END
}


/*---------------------------------------------------------------
                                                computeObservationLikelihood
  ---------------------------------------------------------------*/
double   CWirelessPowerGridMap2D::internal_computeObservationLikelihood(
        const CObservation              *obs,
        const CPose3D                   &takenFrom )
{
        MRPT_UNUSED_PARAM(obs);MRPT_UNUSED_PARAM(takenFrom);

    THROW_EXCEPTION("Not implemented yet!");
}

/*---------------------------------------------------------------
  Implements the writing to a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::writeToStream(mrpt::utils::CStream &out, int *version) const
{
        if (version)
                *version = 5;
        else
        {
                dyngridcommon_writeToStream(out);

                // To ensure compatibility: The size of each cell:
                uint32_t n = static_cast<uint32_t>(sizeof( TRandomFieldCell ));
                out << n;

                // Save the map contents:
                n = static_cast<uint32_t>(m_map.size());
                out << n;

                // Save the "m_map": This requires special handling for big endian systems:
#if MRPT_IS_BIG_ENDIAN
                for (uint32_t i=0;i<n;i++)
                {
                        out << m_map[i].kf_mean << m_map[i].dm_mean << m_map[i].dmv_var_mean;
                }
#else
                // Little endian: just write all at once:
                out.WriteBuffer( &m_map[0], sizeof(m_map[0])*m_map.size() );  // TODO: Do this endianness safe!!
#endif


                // Version 1: Save the insertion options:
                out << uint8_t(m_mapType)
                        << m_cov
                        << m_stackedCov;

                out << insertionOptions.sigma
                        << insertionOptions.cutoffRadius
                        << insertionOptions.R_min
                        << insertionOptions.R_max
                        << insertionOptions.KF_covSigma
                        << insertionOptions.KF_initialCellStd
                        << insertionOptions.KF_observationModelNoise
                        << insertionOptions.KF_defaultCellMeanValue
                        << insertionOptions.KF_W_size;

                // New in v3:
                out << m_average_normreadings_mean << m_average_normreadings_var << uint64_t(m_average_normreadings_count);

                out << genericMapParams; // v4

        }
}

// Aux struct used below (must be at global scope for STL):
struct TOldCellTypeInVersion1
{
        float   mean, std;
        float   w,wr;
};

/*---------------------------------------------------------------
  Implements the reading from a CStream capability of CSerializable objects
 ---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::readFromStream(mrpt::utils::CStream &in, int version)
{
        switch(version)
        {
        case 0:
        case 1:
        case 2:
        case 3:
        case 4:
        case 5:
                {
                        dyngridcommon_readFromStream(in, version<5);

                        // To ensure compatibility: The size of each cell:
                        uint32_t        n;
                        in >> n;

                        if (version<2)
                        {       // Converter from old versions <=1
                                ASSERT_( n == static_cast<uint32_t>( sizeof( TOldCellTypeInVersion1 ) ));
                                // Load the map contents in an aux struct:
                                in >> n;
                                vector<TOldCellTypeInVersion1>  old_map(n);
                                in.ReadBuffer( &old_map[0], sizeof(old_map[0])*old_map.size() );

                                // Convert to newer format:
                                m_map.resize(n);
                                for (size_t k=0;k<n;k++)
                                {
                                        m_map[k].kf_mean = (old_map[k].w!=0) ? old_map[k].wr : old_map[k].mean;
                                        m_map[k].kf_std  = (old_map[k].w!=0) ? old_map[k].w  : old_map[k].std;
                                }
                        }
                        else
                        {
                                ASSERT_EQUAL_( n , static_cast<uint32_t>( sizeof( TRandomFieldCell ) ));
                                // Load the map contents:
                                in >> n;
                                m_map.resize(n);

                                // Read the note in writeToStream()
#if MRPT_IS_BIG_ENDIAN
                                for (uint32_t i=0;i<n;i++)
                                        in >> m_map[i].kf_mean >> m_map[i].dm_mean >> m_map[i].dmv_var_mean;
#else
                                // Little endian: just read all at once:
                                in.ReadBuffer( &m_map[0], sizeof(m_map[0])*m_map.size() );
#endif
                        }

                        // Version 1: Insertion options:
                        if (version>=1)
                        {
                                uint8_t i;
                                in  >> i;
                                m_mapType = TMapRepresentation(i);

                                in      >> m_cov
                                        >> m_stackedCov;

                                in  >> insertionOptions.sigma
                                        >> insertionOptions.cutoffRadius
                                        >> insertionOptions.R_min
                                        >> insertionOptions.R_max
                                        >> insertionOptions.KF_covSigma
                                        >> insertionOptions.KF_initialCellStd
                                        >> insertionOptions.KF_observationModelNoise
                                        >> insertionOptions.KF_defaultCellMeanValue
                                        >> insertionOptions.KF_W_size;
                        }

                        if (version>=3)
                        {
                                uint64_t N;
                                in >> m_average_normreadings_mean >> m_average_normreadings_var >> N;
                                m_average_normreadings_count = N;
                        }

                        if (version>=4)
                                in >> genericMapParams;

                        m_hasToRecoverMeanAndCov = true;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };

}

/*---------------------------------------------------------------
                                        TInsertionOptions
 ---------------------------------------------------------------*/
CWirelessPowerGridMap2D::TInsertionOptions::TInsertionOptions()
{
}

/*---------------------------------------------------------------
                                        dumpToTextStream
  ---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream(mrpt::utils::CStream &out) const
{
        out.printf("\n----------- [CWirelessPowerGridMap2D::TInsertionOptions] ------------ \n\n");
        internal_dumpToTextStream_common(out);  // Common params to all random fields maps:

        out.printf("\n");
}

/*---------------------------------------------------------------
                                        loadFromConfigFile
  ---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::TInsertionOptions::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase  &iniFile,
        const std::string &section)
{
        // Common data fields for all random fields maps:
        internal_loadFromConfigFile_common(iniFile,section);
}

/*---------------------------------------------------------------
                                                getAs3DObject
---------------------------------------------------------------*/
void  CWirelessPowerGridMap2D::getAs3DObject( mrpt::opengl::CSetOfObjectsPtr    &outObj ) const
{
        MRPT_START
        if (!genericMapParams.enableSaveAs3DObject) return;
        CRandomFieldGridMap2D::getAs3DObject(outObj);
        MRPT_END
}