Detailed Description

CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.

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()

See also: mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

Definition at line 34 of file maps/CGasConcentrationGridMap2D.h.

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::maps::CGasConcentrationGridMap2D:

Classes
struct	TGaussianCell

struct	TGaussianWindTable

struct	TInsertionOptions
	Parameters related with inserting observations into the map: More...

struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
enum	TMapRepresentation { mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKernelDMV, mrGMRF_SD }
	The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...

enum	TGridInterpolationMethod { gimNearest = 0, gimBilinear }

typedef std::shared_ptr< ConnectivityDescriptor >	ConnectivityDescriptorPtr

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 ()

	CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor. More...

virtual	~CGasConcentrationGridMap2D ()
	Destructor. More...

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

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

void	getWindAs3DObject (mrpt::opengl::CSetOfObjectsPtr &windObj) const
	Returns the 3D object representing the wind grid information. More...

virtual void	increaseUncertainty (const double STD_increase_value)
	Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simulate loss of confidence in measurements when time passes. More...

bool	simulateAdvection (const double &STD_increase_value)
	Implements the transition model of the gasConcentration map using the information of the wind maps. More...

void	clear ()
	Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...

float	cell2float (const TRandomFieldCell &c) const MRPT_OVERRIDE

virtual float	cell2float (const TRandomFieldCell &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...

virtual bool	isEmpty () const MRPT_OVERRIDE
	Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes) More...

virtual void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,...). More...

virtual void	getAsBitmapFile (mrpt::utils::CImage &out_img) const
	Returns an image just as described in saveAsBitmapFile. More...

virtual void	getAsMatrix (mrpt::math::CMatrixDouble &out_mat) const
	Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map) More...

void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=1.0f) MRPT_OVERRIDE
	Changes the size of the grid, maintaining previous contents. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=NULL)
	Changes the size of the grid, erasing previous contents. More...

void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=NULL)
	Changes the size of the grid, ERASING all previous contents. More...

void	setCellsConnectivity (const ConnectivityDescriptorPtr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between 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...

virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
	The implementation in this class just calls all the corresponding method of the contained metric maps. More...

virtual void	saveAsMatlab3DGraph (const std::string &filName) const
	Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell. More...

void	getAsMatlab3DGraphScript (std::string &out_script) const
	Return a large text block with a MATLAB script to plot the contents of this map. More...

TMapRepresentation	getMapType ()
	Return the type of the random-field grid map, according to parameters passed on construction. More...

void	insertIndividualReading (const double sensorReading, const mrpt::math::TPoint2D &point, const bool update_map=true, const bool time_invariant=true, const double reading_stddev=.0)
	Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor. More...

virtual void	predictMeasurement (const double x, const double y, double &out_predict_response, double &out_predict_response_variance, bool do_sensor_normalization, const TGridInterpolationMethod interp_method=gimNearest)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance). More...

void	getMeanAndCov (mrpt::math::CVectorDouble &out_means, mrpt::math::CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods). More...

void	getMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD) const
	Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...

void	setMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD)
	Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...

void	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations. More...

void	enableVerbose (bool enable_verbose)

bool	isEnabledVerbose () const

void	enableProfiler (bool enable=true)

bool	isProfilerEnabled () const

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	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matching between this and another 2D point map, which includes finding: 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...

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

void	fill (const TRandomFieldCell &value)
	Fills all the cells with the same value. More...

TRandomFieldCell *	cellByPos (double x, double y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. More...

const TRandomFieldCell *	cellByPos (double x, double y) const

TRandomFieldCell *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...

const TRandomFieldCell *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...

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

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

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

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

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

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

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

int	x2idx (double x) const
	Transform a coordinate values into cell indexes. More...

int	y2idx (double y) const

int	xy2idx (double x, double y) const

void	idx2cxcy (const int &idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...

double	idx2x (int cx) const
	Transform a cell index into a coordinate value of the cell central point. More...

double	idx2y (int cy) const

bool	saveToTextFile (const std::string &fileName) const
	Saves a float representation of the grid (via "cell2float()") to a text file. More...

RTTI classes and functions
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...

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

Public Attributes
mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions	insertionOptions

struct MAPS_IMPEXP mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable	LUT

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

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRandomFieldGridMap2D

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

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

Protected Member Functions
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon *	getCommonInsertOptions () MRPT_OVERRIDE
	Get the part of the options common to all CRandomFieldGridMap2D classes. More...

void	internal_clear () MRPT_OVERRIDE
	Erase all the contents of the map. More...

bool	internal_insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=NULL) MRPT_OVERRIDE
	Internal method called by insertObservation() More...

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

bool	build_Gaussian_Wind_Grid ()
	Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value. More...

bool	save_Gaussian_Wind_Grid_To_File ()

bool	load_Gaussian_Wind_Grid_From_File ()

void	insertObservation_KernelDM_DMV (double normReading, const mrpt::math::TPoint2D &point, bool is_DMV)
	The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V. More...

void	insertObservation_KF (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model. More...

void	insertObservation_KF2 (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model. More...

void	insertObservation_GMRF (double normReading, const mrpt::math::TPoint2D &point, const bool update_map, const bool time_invariant, const double reading_information)
	The implementation of "insertObservation" for the Gaussian Markov Random Field map model. More...

void	updateMapEstimation_GMRF ()
	solves the minimum quadratic system to determine the new concentration of each cell More...

double	computeConfidenceCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the confidence of the cell concentration (alpha) More...

double	computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the average cell concentration, or the overall average value if it has never been observed. More...

double	computeVarCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed. More...

void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values. More...

bool	exist_relation_between2cells (const mrpt::maps::COccupancyGridMap2D *m_Ocgridmap, size_t cxo_min, size_t cxo_max, size_t cyo_min, size_t cyo_max, const size_t seed_cxo, const size_t seed_cyo, const size_t objective_cxo, const size_t objective_cyo)
	Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap. 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...

std::vector< TRandomFieldCell > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (mrpt::utils::CStream &out) const

void	dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)

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...

Protected Attributes
mrpt::utils::CDynamicGrid< double >	windGrid_module
	Gridmaps of the wind Direction/Module. More...

mrpt::utils::CDynamicGrid< double >	windGrid_direction

mrpt::system::TTimeStamp	timeLastSimulated
	The timestamp of the last time the advection simulation was executed. More...

bool	m_rfgm_run_update_upon_clear

TInsertionOptionsCommon *	m_insertOptions_common
	Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class. More...

TMapRepresentation	m_mapType
	The map representation type of this map, as passed in the constructor. More...

mrpt::math::CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation. More...

mrpt::math::CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation. More...

bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation. More...

ConnectivityDescriptorPtr	m_gmrf_connectivity
	Empty: default. More...

mrpt::graphs::ScalarFactorGraph	m_gmrf

std::vector< std::list< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information. More...

std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...

std::vector< TRandomFieldCell >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_resolution

size_t	m_size_x

size_t	m_size_y

Auxiliary vars for DM & DM+V methods
float	m_DM_lastCutOff

std::vector< float >	m_DM_gaussWindow

double	m_average_normreadings_mean

double	m_average_normreadings_var

size_t	m_average_normreadings_count

RTTI stuff
typedef CGasConcentrationGridMap2DPtr	Ptr

typedef CGasConcentrationGridMap2DPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CGasConcentrationGridMap2D

static mrpt::utils::TRuntimeClassId	classCGasConcentrationGridMap2D

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 CGasConcentrationGridMap2DPtr	Create ()

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CGasConcentrationGridMap2D,gasGrid" ,& mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition,& mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

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

static CGasConcentrationGridMap2D *	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

◆ ConnectivityDescriptorPtr

typedef std::shared_ptr<ConnectivityDescriptor> mrpt::maps::CRandomFieldGridMap2D::ConnectivityDescriptorPtr

inherited

Definition at line 258 of file maps/CRandomFieldGridMap2D.h.

◆ ConstPtr

typedef CGasConcentrationGridMap2DPtr mrpt::maps::CGasConcentrationGridMap2D::ConstPtr

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ Ptr

typedef CGasConcentrationGridMap2DPtr mrpt::maps::CGasConcentrationGridMap2D::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

◆ TGridInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap2D::TGridInterpolationMethod

inherited

Enumerator
gimNearest
gimBilinear

Definition at line 299 of file maps/CRandomFieldGridMap2D.h.

◆ TMapRepresentation

enum mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation

inherited

The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.

Enumerator
mrKernelDM	Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrAchim	Another alias for "mrKernelDM", for backwards compatibility (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKalmanFilter	"Brute-force" Kalman filter (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKalmanApproximate	(see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKernelDMV	Double mean + variance Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrGMRF_SD	Gaussian Markov Random Field, squared differences prior weights between 4 neighboring cells (see discussion in mrpt::maps::CRandomFieldGridMap2D)

Definition at line 138 of file maps/CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

◆ CGasConcentrationGridMap2D()

CGasConcentrationGridMap2D::CGasConcentrationGridMap2D	(	TMapRepresentation	mapType = `mrAchim`,
		float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

Definition at line 91 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, insertionOptions, mrpt::system::now(), mrpt::utils::CDynamicGrid< T >::setSize(), timeLastSimulated, windGrid_direction, and windGrid_module.

◆ ~CGasConcentrationGridMap2D()

CGasConcentrationGridMap2D::~CGasConcentrationGridMap2D ( )

virtual

Destructor.

Definition at line 118 of file CGasConcentrationGridMap2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::_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.

◆ build_Gaussian_Wind_Grid()

bool CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid ( )

protected

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value.

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific condition.

The LUT contains the values of the Gaussian Weigths and the references to the cell indexes to be applied. Since the LUT is independent of the wind direction and angle, it generates the Gaussian Weights for different configurations of wind angle and module values.

To increase precission, each cell of the grid is sub-divided in subcells of smaller size.

cell_i –> Cell origin (We consider our reference system in the bottom left corner of cell_i ). Is the cell that contains the gas measurement which will be propagated by the wind. The wind propagates in the shape of a 2D Gaussian with center in the target cell (cell_j) cell_j –> Target cell. Is the cell where falls the center of the Gaussian that models the propagation of the gas comming from cell_i.

Definition at line 823 of file CGasConcentrationGridMap2D.cpp.

Referenced by internal_clear().

◆ 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().

◆ cell2float() [1/2]

float mrpt::maps::CRandomFieldGridMap2D::cell2float ( const TRandomFieldCell & c ) const

inlineinherited

Definition at line 131 of file maps/CRandomFieldGridMap2D.h.

◆ cell2float() [2/2]

virtual float mrpt::utils::CDynamicGrid< TRandomFieldCell >::cell2float ( const TRandomFieldCell & c ) const

inlinevirtualinherited

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 274 of file CDynamicGrid.h.

References MRPT_UNUSED_PARAM.

◆ cellByIndex() [1/2]

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 203 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ cellByIndex() [2/2]

const TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 212 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

◆ cellByPos() [1/2]

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos	(	double	x,
		double	y
	)

inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 183 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

◆ cellByPos() [2/2]

const TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos	(	double	x,
		double	y
	)		const

inlineinherited

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 192 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

◆ clear()

void mrpt::maps::CRandomFieldGridMap2D::clear ( )

inlineinherited

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

Definition at line 128 of file maps/CRandomFieldGridMap2D.h.

References mrpt::maps::CMetricMap::clear().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ compute3DMatchingRatio()

float CRandomFieldGridMap2D::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

virtualinherited

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 2316 of file CRandomFieldGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

◆ computeConfidenceCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV ( const TRandomFieldCell * cell ) const

protectedinherited

Computes the confidence of the cell concentration (alpha)

Definition at line 1644 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::math::square().

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

◆ computeMeanCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell * cell ) const

protectedinherited

Computes the average cell concentration, or the overall average value if it has never been observed.

Definition at line 1653 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean, mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::math::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ 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.

◆ 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().

◆ computeVarCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeVarCellValue_DM_DMV ( const TRandomFieldCell * cell ) const

protectedinherited

Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.

Definition at line 1664 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::TRandomFieldCell::dmv_var_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::math::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ Create()

static CGasConcentrationGridMap2DPtr mrpt::maps::CGasConcentrationGridMap2D::Create ( )

static

◆ CreateFromMapDefinition()

mrpt::maps::CGasConcentrationGridMap2D * mrpt::maps::CGasConcentrationGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

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

Definition at line 36 of file CGasConcentrationGridMap2D.cpp.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CGasConcentrationGridMap2D::CreateObject ( )

static

◆ determineMatching2D()

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

virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

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.

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

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::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 132 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ 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().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::maps::CGasConcentrationGridMap2D::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ dyngridcommon_readFromStream()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream	(	mrpt::utils::CStream &	in,
		bool	cast_from_float = `false`
	)

inlineprotectedinherited

Definition at line 300 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by readFromStream().

◆ dyngridcommon_writeToStream()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotectedinherited

Definition at line 295 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by writeToStream().

◆ enableProfiler()

void mrpt::maps::CRandomFieldGridMap2D::enableProfiler ( bool enable = true )

inlineinherited

Definition at line 328 of file maps/CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::enableProfiler(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

◆ enableVerbose()

void mrpt::maps::CRandomFieldGridMap2D::enableVerbose ( bool enable_verbose )

inlineinherited

Definition at line 325 of file maps/CRandomFieldGridMap2D.h.

◆ exist_relation_between2cells()

bool CRandomFieldGridMap2D::exist_relation_between2cells	(	const mrpt::maps::COccupancyGridMap2D *	m_Ocgridmap,
		size_t	cxo_min,
		size_t	cxo_max,
		size_t	cyo_min,
		size_t	cyo_max,
		const size_t	seed_cxo,
		const size_t	seed_cyo,
		const size_t	objective_cxo,
		const size_t	objective_cyo
	)

protectedinherited

Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap.

Definition at line 2217 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), and min.

◆ fill()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::fill ( const TRandomFieldCell & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

◆ getAs3DObject() [1/2]

void CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 515 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

◆ getAs3DObject() [2/2]

void CGasConcentrationGridMap2D::getAs3DObject	(	mrpt::opengl::CSetOfObjectsPtr &	meanObj,
		mrpt::opengl::CSetOfObjectsPtr &	varObj
	)		const

virtual

Returns two 3D objects representing the mean and variance maps.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 526 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

◆ getAsBitmapFile()

void CRandomFieldGridMap2D::getAsBitmapFile ( mrpt::utils::CImage & out_img ) const

virtualinherited

Returns an image just as described in saveAsBitmapFile.

Definition at line 714 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), MRPT_END, MRPT_START, and mrpt::utils::CImage::setFromMatrix().

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

◆ getAsMatlab3DGraphScript()

void mrpt::maps::CRandomFieldGridMap2D::getAsMatlab3DGraphScript ( std::string & out_script ) const

inherited

Return a large text block with a MATLAB script to plot the contents of this map.

See also: saveAsMatlab3DGraph This method can only be called in a KF map model

◆ getAsMatrix() [1/2]

void CRandomFieldGridMap2D::getAsMatrix ( mrpt::math::CMatrixDouble & out_mat ) const

virtualinherited

Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map)

Like saveAsBitmapFile(), but returns the data in matrix form.

Definition at line 672 of file CRandomFieldGridMap2D.cpp.

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

◆ getAsMatrix() [2/2]

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::getAsMatrix ( MAT & m ) const

inlineinherited

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a mrpt::math::CMatrixDouble.

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 263 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

◆ 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.

◆ getCommonInsertOptions()

virtual CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::maps::CGasConcentrationGridMap2D::getCommonInsertOptions ( )

inlineprotectedvirtual

Get the part of the options common to all CRandomFieldGridMap2D classes.

Implements mrpt::maps::CRandomFieldGridMap2D.

Definition at line 128 of file maps/CGasConcentrationGridMap2D.h.

◆ getMapType()

CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )

inherited

Return the type of the random-field grid map, according to parameters passed on construction.

Definition at line 2091 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType.

◆ getMeanAndCov()

void CRandomFieldGridMap2D::getMeanAndCov	(	mrpt::math::CVectorDouble &	out_means,
		mrpt::math::CMatrixDouble &	out_cov
	)		const

inherited

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2041 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

◆ getMeanAndSTD()

void CRandomFieldGridMap2D::getMeanAndSTD	(	mrpt::math::CVectorDouble &	out_means,
		mrpt::math::CVectorDouble &	out_STD
	)		const

inherited

Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2057 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and mrpt::maps::CRandomFieldGridMap2D::m_stackedCov.

◆ getResolution()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getResolution ( ) const

inlineinherited

Returns the resolution of the grid map.

Definition at line 238 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution.

Referenced by build_Gaussian_Wind_Grid(), and getWindAs3DObject().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

◆ getSizeX()

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeX ( ) const

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 220 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by simulateAdvection().

◆ getSizeY()

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeY ( ) const

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 223 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_y.

Referenced by simulateAdvection().

◆ getWindAs3DObject()

void CGasConcentrationGridMap2D::getWindAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & windObj ) const

Returns the 3D object representing the wind grid information.

Definition at line 539 of file CGasConcentrationGridMap2D.cpp.

◆ getXMax()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMax ( ) const

inlineinherited

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

Definition at line 229 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_max.

Referenced by getWindAs3DObject().

◆ getXMin()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMin ( ) const

inlineinherited

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

Definition at line 226 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by getWindAs3DObject().

◆ getYMax()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMax ( ) const

inlineinherited

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

Definition at line 235 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_max.

Referenced by getWindAs3DObject().

◆ getYMin()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMin ( ) const

inlineinherited

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

Definition at line 232 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by getWindAs3DObject().

◆ 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().

◆ idx2cxcy()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const

inlineinherited

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 246 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), and simulateAdvection().

◆ idx2x()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x ( int cx ) const

inlineinherited

Transform a cell index into a coordinate value of the cell central point.

Definition at line 253 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ idx2y()

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y ( int cy ) const

inlineinherited

Definition at line 254 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ increaseUncertainty()

void CGasConcentrationGridMap2D::increaseUncertainty ( const double STD_increase_value )

virtual

Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simulate loss of confidence in measurements when time passes.

Definition at line 603 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

Referenced by simulateAdvection().

◆ insertIndividualReading()

void CRandomFieldGridMap2D::insertIndividualReading	(	const double	sensorReading,
		const mrpt::math::TPoint2D &	point,
		const bool	update_map = `true`,
		const bool	time_invariant = `true`,
		const double	reading_stddev = `.0`
	)

inherited

Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor.

This is a direct way to update the map, an alternative to the generic insertObservation() method which works with mrpt::obs::CObservation objects.

Parameters

[in]	sensorReading	The value observed in the (x,y) position
[in]	point	The (x,y) location
[in]	update_map	Run a global map update after inserting this observatin (algorithm-dependant)
[in]	time_invariant	Whether the observation "vanishes" with time (false) or not (true) [Only for GMRF methods]
[in]	reading_stddev	The uncertainty (standard deviation) of the reading. Default="0.0" means use the default settings per map-wide parameters.

Definition at line 2115 of file CRandomFieldGridMap2D.cpp.

Referenced by internal_insertObservation().

◆ 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(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

◆ insertObservation_GMRF()

void CRandomFieldGridMap2D::insertObservation_GMRF	(	double	normReading,
		const mrpt::math::TPoint2D &	point,
		const bool	update_map,
		const bool	time_invariant,
		const double	reading_information
	)

protectedinherited

The implementation of "insertObservation" for the Gaussian Markov Random Field map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 2139 of file CRandomFieldGridMap2D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda, mrpt::maps::CRandomFieldGridMap2D::m_gmrf, mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant, mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF(), mrpt::math::TPoint2D::x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D::y.

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

◆ insertObservation_KernelDM_DMV()

void CRandomFieldGridMap2D::insertObservation_KernelDM_DMV	(	double	normReading,
		const mrpt::math::TPoint2D &	point,
		bool	is_DMV
	)

protectedinherited

The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map
is_DMV	= false -> map type is Kernel DM; true -> map type is DM+V
normReading	Is a [0,1] normalized concentration reading.
is_DMV	= false -> map type is Kernel DM; true -> map type is DM+V

Definition at line 480 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::TRandomFieldCell::dm_mean, mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::TRandomFieldCell::dmv_var_mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::utils::round(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

◆ insertObservation_KF()

void CRandomFieldGridMap2D::insertObservation_KF	(	double	normReading,
		const mrpt::math::TPoint2D &	point
	)

protectedinherited

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 998 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::system::os::memcpy(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::square(), mrpt::utils::CTicTac::Tac(), mrpt::utils::CTicTac::Tic(), mrpt::math::TPoint2D::x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D::y.

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

◆ insertObservation_KF2()

void CRandomFieldGridMap2D::insertObservation_KF2	(	double	normReading,
		const mrpt::math::TPoint2D &	point
	)

protectedinherited

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 1818 of file CRandomFieldGridMap2D.cpp.

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

◆ 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_clear()

void CGasConcentrationGridMap2D::internal_clear ( )

protectedvirtual

Erase all the contents of the map.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 125 of file CGasConcentrationGridMap2D.cpp.

References build_Gaussian_Wind_Grid(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_direction, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_speed, mrpt::utils::CDynamicGrid< T >::fill(), insertionOptions, mrpt::maps::CRandomFieldGridMap2D::internal_clear(), THROW_EXCEPTION, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation, windGrid_direction, and windGrid_module.

◆ internal_computeObservationLikelihood()

double CGasConcentrationGridMap2D::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

protectedvirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 258 of file CGasConcentrationGridMap2D.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CGasConcentrationGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 74 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::insertionOpts, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::mapType, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::max_x, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::max_y, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::min_x, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::min_y, and mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::resolution.

◆ internal_insertObservation()

bool CGasConcentrationGridMap2D::internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

protectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 164 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::enose_id, mrpt::obs::CObservationGasSensors::TObservationENose::eNosePoseOnTheRobot, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorLabel, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorType, mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading(), insertionOptions, IS_CLASS, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::obs::CObservationGasSensors::m_readings, mrpt::math::mean(), MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::obs::CObservationGasSensors::TObservationENose::readingsVoltage, mrpt::obs::CObservation::sensorLabel, mrpt::math::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ isEmpty()

bool CRandomFieldGridMap2D::isEmpty ( ) const

virtualinherited

Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes)

Implements mrpt::maps::CMetricMap.

Definition at line 467 of file CRandomFieldGridMap2D.cpp.

◆ isEnabledVerbose()

bool mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose ( ) const

inlineinherited

Definition at line 326 of file maps/CRandomFieldGridMap2D.h.

◆ isProfilerEnabled()

bool mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled ( ) const

inlineinherited

Definition at line 329 of file maps/CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::isProfilerEnabled(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

◆ load_Gaussian_Wind_Grid_From_File()

bool CGasConcentrationGridMap2D::load_Gaussian_Wind_Grid_From_File ( )

protected

Definition at line 1236 of file CGasConcentrationGridMap2D.cpp.

Referenced by build_Gaussian_Wind_Grid().

◆ 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().

◆ m_map_castaway_const()

std::vector<TRandomFieldCell >& mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

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

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CGasConcentrationGridMap2D::MapDefinition ( )

static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 36 of file CGasConcentrationGridMap2D.cpp.

◆ operator delete() [1/3]

void mrpt::maps::CGasConcentrationGridMap2D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator delete() [2/3]

void mrpt::maps::CGasConcentrationGridMap2D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator delete() [3/3]

void mrpt::maps::CGasConcentrationGridMap2D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator delete[]()

void mrpt::maps::CGasConcentrationGridMap2D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator new() [1/3]

void* mrpt::maps::CGasConcentrationGridMap2D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator new() [2/3]

void* mrpt::maps::CGasConcentrationGridMap2D::operator new ( size_t size )

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator new() [3/3]

static void* mrpt::maps::CGasConcentrationGridMap2D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ operator new[]()

void* mrpt::maps::CGasConcentrationGridMap2D::operator new[] ( size_t size )

inline

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ predictMeasurement()

void CRandomFieldGridMap2D::predictMeasurement	(	const double	x,
		const double	y,
		double &	out_predict_response,
		double &	out_predict_response_variance,
		bool	do_sensor_normalization,
		const TGridInterpolationMethod	interp_method = `gimNearest`
	)

virtualinherited

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

Parameters

[in]	x	Query X coordinate
[in]	y	Query Y coordinate
[out]	out_predict_response	The output value
[out]	out_predict_response_variance	The output variance
[in]	do_sensor_normalization	Whether to renormalize the prediction to a predefined interval (`R` values in insertionOptions)
[in]	interp_method	Interpolation method

Definition at line 1683 of file CRandomFieldGridMap2D.cpp.

◆ 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 CGasConcentrationGridMap2D::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 330 of file CGasConcentrationGridMap2D.cpp.

◆ recoverMeanAndCov()

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const

protectedinherited

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See also: m_hasToRecoverMeanAndCov

Definition at line 2026 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map_castaway_const(), mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), and simulateAdvection().

◆ resize() [1/2]

virtual void mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const TRandomFieldCell &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 109 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, mrpt::utils::CDynamicGrid< T >::m_y_min, and mrpt::utils::round().

◆ resize() [2/2]

void CRandomFieldGridMap2D::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const TRandomFieldCell &	defaultValueNewCells,
		double	additionalMarginMeters = `1.0f`
	)

virtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 726 of file CRandomFieldGridMap2D.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

◆ save_Gaussian_Wind_Grid_To_File()

bool CGasConcentrationGridMap2D::save_Gaussian_Wind_Grid_To_File ( )

protected

Definition at line 1175 of file CGasConcentrationGridMap2D.cpp.

Referenced by build_Gaussian_Wind_Grid().

◆ saveAsBitmapFile()

void CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string & filName ) const

virtualinherited

Save the current map as a graphical file (BMP,PNG,...).

The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $\sum{\frac{wR}{w}}$ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell.

See also: getAsBitmapFile()

Definition at line 660 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile(), MRPT_END, and MRPT_START.

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

◆ saveAsMatlab3DGraph()

void CRandomFieldGridMap2D::saveAsMatlab3DGraph ( const std::string & filName ) const

virtualinherited

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

This method can only be called in a KF map model.

See also: getAsMatlab3DGraphScript

Definition at line 1235 of file CRandomFieldGridMap2D.cpp.

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

◆ saveMetricMapRepresentationToFile()

void CRandomFieldGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtualinherited

The implementation in this class just calls all the corresponding method of the contained metric maps.

Implements mrpt::maps::CMetricMap.

Definition at line 1112 of file CRandomFieldGridMap2D.cpp.

◆ saveToTextFile()

bool mrpt::utils::CDynamicGrid< TRandomFieldCell >::saveToTextFile ( const std::string & fileName ) const

inlineinherited

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns: false on error

Definition at line 280 of file CDynamicGrid.h.

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

◆ setCellsConnectivity()

void CRandomFieldGridMap2D::setCellsConnectivity ( const ConnectivityDescriptorPtr & new_connectivity_descriptor )

inherited

Sets a custom object to define the connectivity between cells.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 77 of file CRandomFieldGridMap2D.cpp.

◆ setMeanAndSTD()

void CRandomFieldGridMap2D::setMeanAndSTD	(	mrpt::math::CVectorDouble &	out_means,
		mrpt::math::CVectorDouble &	out_STD
	)

inherited

Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2074 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), and mrpt::math::square().

◆ setSize() [1/2]

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const TRandomFieldCell *	fill_value = `NULL`
	)

inlineinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See also: resize, fill

Definition at line 69 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, mrpt::utils::CDynamicGrid< T >::m_y_min, and mrpt::utils::round().

◆ setSize() [2/2]

void CRandomFieldGridMap2D::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const TRandomFieldCell *	fill_value = `NULL`
	)

virtualinherited

Changes the size of the grid, erasing previous contents.

Parameters

[in] connectivity_descriptor Optional user-supplied object that will visit all grid cells to define their connectivity with neighbors and the strength of existing edges. If present, it overrides all options in insertionOptions

See also: resize; resize

Definition at line 71 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), and setSize().

◆ simulateAdvection()

bool CGasConcentrationGridMap2D::simulateAdvection ( const double & STD_increase_value )

Implements the transition model of the gasConcentration map using the information of the wind maps.

Definition at line 634 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeX(), mrpt::utils::CDynamicGrid< T >::getSizeY(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeY(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), increaseUncertainty(), insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, LUT, LUT_TABLE, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::system::now(), mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::utils::round(), mrpt::math::square(), mrpt::utils::CTicTac::Tac(), mrpt::utils::CTicTac::Tic(), mrpt::system::timeDifference(), timeLastSimulated, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation, windGrid_direction, and windGrid_module.

◆ 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.

◆ updateMapEstimation()

void CRandomFieldGridMap2D::updateMapEstimation ( )

inherited

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations.

Definition at line 2096 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, THROW_EXCEPTION, and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ updateMapEstimation_GMRF()

void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )

protectedinherited

solves the minimum quadratic system to determine the new concentration of each cell

Definition at line 2173 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::graphs::ScalarFactorGraph::eraseConstraint(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance, mrpt::maps::CRandomFieldGridMap2D::m_gmrf, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs, mrpt::mrpt::utils::saturate(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation().

◆ 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 CGasConcentrationGridMap2D::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 270 of file CGasConcentrationGridMap2D.cpp.

◆ x2idx()

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx ( double x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), and mrpt::maps::CRandomFieldGridMap2D::predictMeasurement().

◆ xy2idx()

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx	(	double	x,
		double	y
	)		const

inlineinherited

Definition at line 243 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

◆ y2idx()

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::y2idx ( double y ) const

inlineinherited

Definition at line 242 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), and mrpt::maps::CRandomFieldGridMap2D::predictMeasurement().

Member Data Documentation

◆ _init_CGasConcentrationGridMap2D

mrpt::utils::CLASSINIT mrpt::maps::CGasConcentrationGridMap2D::_init_CGasConcentrationGridMap2D

staticprotected

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ classCGasConcentrationGridMap2D

mrpt::utils::TRuntimeClassId mrpt::maps::CGasConcentrationGridMap2D::classCGasConcentrationGridMap2D

static

Definition at line 37 of file maps/CGasConcentrationGridMap2D.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 118 of file CObject.h.

◆ classCRandomFieldGridMap2D

const mrpt::utils::TRuntimeClassId mrpt::maps::CRandomFieldGridMap2D::classCRandomFieldGridMap2D

staticinherited

Definition at line 122 of file maps/CRandomFieldGridMap2D.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::CGasConcentrationGridMap2D::classinfo

static

Definition at line 37 of file maps/CGasConcentrationGridMap2D.h.

◆ 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(), 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(), readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), writeToStream(), and mrpt::maps::CReflectivityGridMap2D::writeToStream().

◆ insertionOptions

mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions mrpt::maps::CGasConcentrationGridMap2D::insertionOptions

Referenced by build_Gaussian_Wind_Grid(), CGasConcentrationGridMap2D(), internal_clear(), internal_insertObservation(), readFromStream(), simulateAdvection(), and writeToStream().

◆ LUT

struct MAPS_IMPEXP mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable mrpt::maps::CGasConcentrationGridMap2D::LUT

Referenced by build_Gaussian_Wind_Grid(), load_Gaussian_Wind_Grid_From_File(), save_Gaussian_Wind_Grid_To_File(), and simulateAdvection().

◆ m_average_normreadings_count

size_t mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count

protectedinherited

Definition at line 356 of file maps/CRandomFieldGridMap2D.h.

Referenced by internal_insertObservation(), readFromStream(), and writeToStream().

◆ m_average_normreadings_mean

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean

protectedinherited

Definition at line 355 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), readFromStream(), and writeToStream().

◆ m_average_normreadings_var

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var

protectedinherited

Definition at line 355 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), internal_insertObservation(), readFromStream(), and writeToStream().

◆ m_cov

mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_cov

protectedinherited

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 342 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), readFromStream(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), and writeToStream().

◆ m_DM_gaussWindow

std::vector<float> mrpt::maps::CRandomFieldGridMap2D::m_DM_gaussWindow

protectedinherited

Definition at line 354 of file maps/CRandomFieldGridMap2D.h.

◆ m_DM_lastCutOff

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff

protectedinherited

Definition at line 353 of file maps/CRandomFieldGridMap2D.h.

◆ m_gmrf

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap2D::m_gmrf

protectedinherited

Definition at line 361 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableProfiler(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ m_gmrf_connectivity

ConnectivityDescriptorPtr mrpt::maps::CRandomFieldGridMap2D::m_gmrf_connectivity

protectedinherited

Empty: default.

Definition at line 359 of file maps/CRandomFieldGridMap2D.h.

◆ m_hasToRecoverMeanAndCov

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov

mutableprotectedinherited

Only for the KF2 implementation.

Definition at line 349 of file maps/CRandomFieldGridMap2D.h.

Referenced by increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), readFromStream(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), and simulateAdvection().

◆ m_insertOptions_common

TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common

protectedinherited

Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class.

Definition at line 335 of file maps/CRandomFieldGridMap2D.h.

◆ m_map

std::vector<TRandomFieldCell > mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map

protectedinherited

The cells.

Definition at line 43 of file CDynamicGrid.h.

◆ m_mapType

TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType

protectedinherited

The map representation type of this map, as passed in the constructor.

Definition at line 340 of file maps/CRandomFieldGridMap2D.h.

◆ m_mrf_factors_activeObs

std::vector<std::list<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs

protectedinherited

Vector with the active observations and their respective Information.

Definition at line 392 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ m_mrf_factors_priors

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_priors

protectedinherited

Vector with the precomputed priors for each GMRF model.

Definition at line 393 of file maps/CRandomFieldGridMap2D.h.

◆ m_private_map_register_id

const size_t mrpt::maps::CGasConcentrationGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CGasConcentrationGridMap2D,gasGrid" ,& mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition,& mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 155 of file maps/CGasConcentrationGridMap2D.h.

◆ m_resolution

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), and mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph().

◆ m_rfgm_run_update_upon_clear

bool mrpt::maps::CRandomFieldGridMap2D::m_rfgm_run_update_upon_clear

protectedinherited

Definition at line 332 of file maps/CRandomFieldGridMap2D.h.

◆ m_size_x

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x

protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ m_size_y

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y

protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ m_stackedCov

mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_stackedCov

protectedinherited

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 348 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getMeanAndSTD(), increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), readFromStream(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), simulateAdvection(), and writeToStream().

◆ m_x_max

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_max

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ m_x_min

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ m_y_max

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_max

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ m_y_min

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ timeLastSimulated

mrpt::system::TTimeStamp mrpt::maps::CGasConcentrationGridMap2D::timeLastSimulated

protected

The timestamp of the last time the advection simulation was executed.

Definition at line 149 of file maps/CGasConcentrationGridMap2D.h.

Referenced by CGasConcentrationGridMap2D(), and simulateAdvection().

◆ windGrid_direction

mrpt::utils::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_direction

protected

Definition at line 146 of file maps/CGasConcentrationGridMap2D.h.

Referenced by CGasConcentrationGridMap2D(), getWindAs3DObject(), internal_clear(), and simulateAdvection().

◆ windGrid_module

mrpt::utils::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_module

protected

Gridmaps of the wind Direction/Module.

Definition at line 146 of file maps/CGasConcentrationGridMap2D.h.

Referenced by CGasConcentrationGridMap2D(), getWindAs3DObject(), internal_clear(), and simulateAdvection().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

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

Member Typedef Documentation

◆ ConnectivityDescriptorPtr

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ TGridInterpolationMethod

◆ TMapRepresentation

Constructor & Destructor Documentation

◆ CGasConcentrationGridMap2D()

◆ ~CGasConcentrationGridMap2D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ build_Gaussian_Wind_Grid()

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ cell2float() [1/2]

◆ cell2float() [2/2]

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeConfidenceCellValue_DM_DMV()

◆ computeMeanCellValue_DM_DMV()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ computeVarCellValue_DM_DMV()

◆ Create()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ enableProfiler()

◆ enableVerbose()

◆ exist_relation_between2cells()

◆ fill()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getAsBitmapFile()

◆ getAsMatlab3DGraphScript()

◆ getAsMatrix() [1/2]

◆ getAsMatrix() [2/2]

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getCommonInsertOptions()

◆ getMapType()

◆ getMeanAndCov()

◆ getMeanAndSTD()

◆ getResolution()

◆ GetRuntimeClass()

◆ getSizeX()

◆ getSizeY()

◆ getWindAs3DObject()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ hasSubscribers()

◆ idx2cxcy()

◆ idx2x()