Detailed Description

Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location.

Important implemented features are the insertion of 2D laser scans (from arbitrary 6D poses) and the exportation as 3D scenes.

Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:

mrSimpleAverage: Each cell only stores the current average value.

This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:

mrpt::obs::CObservation2DRangeScan: 2D range scans
mrpt::obs::CObservationVelodyneScan

Definition at line 55 of file maps/CHeightGridMap2D.h.

#include <mrpt/maps/CHeightGridMap2D.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D:

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

struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
enum	TMapRepresentation { mrSimpleAverage = 0 }
	The type of map representation to be used. More...

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 ()

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

float	cell2float (const THeightGridmapCell &c) const MRPT_OVERRIDE

	CHeightGridMap2D (TMapRepresentation mapType=mrSimpleAverage, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
	Constructor. More...

bool	isEmpty () const MRPT_OVERRIDE
	Returns true if the map is empty/no observation has been inserted. 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 it always returns 0. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
	Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH. More...

TMapRepresentation	getMapType ()
	Return the type of the gas distribution map, according to parameters passed on construction. More...

size_t	countObservedCells () const
	Return the number of cells with at least one height data inserted. More...

virtual bool	insertIndividualPoint (const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams &params=CHeightGridMap2D_Base::TPointInsertParams()) MRPT_OVERRIDE
	Update the DEM with one new point. More...

virtual double	dem_get_resolution () const MRPT_OVERRIDE

virtual size_t	dem_get_size_x () const MRPT_OVERRIDE

virtual size_t	dem_get_size_y () const MRPT_OVERRIDE

virtual bool	dem_get_z_by_cell (const size_t cx, const size_t cy, double &z_out) const MRPT_OVERRIDE
	Get cell 'z' by (cx,cy) cell indices. More...

virtual bool	dem_get_z (const double x, const double y, double &z_out) const MRPT_OVERRIDE
	Get cell 'z' (x,y) by metric coordinates. More...

virtual void	dem_update_map () MRPT_OVERRIDE
	Ensure that all observations are reflected in the map estimate. More...

void	internal_clear () MRPT_OVERRIDE
	Internal method called by clear() 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...

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

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

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

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

THeightGridmapCell *	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 THeightGridmapCell *	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

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

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

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

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

Specific API for Digital Elevation Model (DEM) maps
bool	intersectLine3D (const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
	Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell) More...

bool	getMinMaxHeight (float &z_min, float &z_max) const
	Computes the minimum and maximum height in the grid. More...

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

Public Attributes
mrpt::maps::CHeightGridMap2D::TInsertionOptions	insertionOptions

TMapRepresentation	m_mapType
	The map representation type of this map. More...

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

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

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

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

Protected Member Functions
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< THeightGridmapCell > &	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
std::vector< THeightGridmapCell >	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

RTTI stuff
typedef CHeightGridMap2DPtr	Ptr

typedef CHeightGridMap2DPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CHeightGridMap2D

static mrpt::utils::TRuntimeClassId	classCHeightGridMap2D

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 CHeightGridMap2DPtr	Create ()

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

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

static CHeightGridMap2D *	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

◆ ConstPtr

typedef CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::ConstPtr

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ Ptr

typedef CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::Ptr

A typedef for the associated smart pointer

Definition at line 61 of file maps/CHeightGridMap2D.h.

Member Enumeration Documentation

◆ TMapRepresentation

enum mrpt::maps::CHeightGridMap2D::TMapRepresentation

The type of map representation to be used.

See mrpt::maps::CHeightGridMap2D for discussion.

Enumerator
mrSimpleAverage

Definition at line 76 of file maps/CHeightGridMap2D.h.

Constructor & Destructor Documentation

◆ CHeightGridMap2D()

CHeightGridMap2D::CHeightGridMap2D	(	TMapRepresentation	mapType = `mrSimpleAverage`,
		double	x_min = `-2`,
		double	x_max = `2`,
		double	y_min = `-2`,
		double	y_max = `2`,
		double	resolution = `0.1`
	)

Constructor.

Definition at line 88 of file CHeightGridMap2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::_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.

◆ 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::CHeightGridMap2D::cell2float ( const THeightGridmapCell & c ) const

inline

Definition at line 69 of file maps/CHeightGridMap2D.h.

◆ cell2float() [2/2]

virtual float mrpt::utils::CDynamicGrid< THeightGridmapCell >::cell2float ( const THeightGridmapCell & 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.

◆ cellByIndex() [1/2]

THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

Referenced by dem_get_z_by_cell(), and getAs3DObject().

◆ cellByIndex() [2/2]

const THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

◆ cellByPos() [1/2]

THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

Referenced by dem_get_z().

◆ cellByPos() [2/2]

const THeightGridmapCell * mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

◆ clear()

void mrpt::maps::CHeightGridMap2D::clear ( )

inline

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

Definition at line 67 of file maps/CHeightGridMap2D.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 CHeightGridMap2D::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

virtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 418 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

◆ 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().

◆ countObservedCells()

size_t CHeightGridMap2D::countObservedCells ( ) const

Return the number of cells with at least one height data inserted.

Definition at line 370 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::m_map, m_mapType, mrSimpleAverage, and THROW_EXCEPTION.

◆ Create()

static CHeightGridMap2DPtr mrpt::maps::CHeightGridMap2D::Create ( )

static

◆ CreateFromMapDefinition()

mrpt::maps::CHeightGridMap2D * mrpt::maps::CHeightGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

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

Definition at line 33 of file CHeightGridMap2D.cpp.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CHeightGridMap2D::CreateObject ( )

static

◆ dem_get_resolution()

double CHeightGridMap2D::dem_get_resolution ( ) const

virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 388 of file CHeightGridMap2D.cpp.

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

◆ dem_get_size_x()

size_t CHeightGridMap2D::dem_get_size_x ( ) const

virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 391 of file CHeightGridMap2D.cpp.

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

◆ dem_get_size_y()

size_t CHeightGridMap2D::dem_get_size_y ( ) const

virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 394 of file CHeightGridMap2D.cpp.

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

◆ dem_get_z()

bool CHeightGridMap2D::dem_get_z	(	const double	x,
		const double	y,
		double &	z_out
	)		const

virtual

Get cell 'z' (x,y) by metric coordinates.

Returns: false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 404 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByPos(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

◆ dem_get_z_by_cell()

bool CHeightGridMap2D::dem_get_z_by_cell	(	const size_t	cx,
		const size_t	cy,
		double &	z_out
	)		const

virtual

Get cell 'z' by (cx,cy) cell indices.

Returns: false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 397 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::cellByIndex(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

◆ dem_internal_insertObservation()

bool CHeightGridMap2D_Base::dem_internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

Internal method called by internal_insertObservation()

Definition at line 133 of file CHeightGridMap2D_Base.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CHeightGridMap2D_Base::dem_update_map(), mrpt::maps::CPointsMap::empty(), mrpt::maps::CPointsMap::getPoint(), mrpt::maps::CHeightGridMap2D_Base::insertIndividualPoint(), IS_CLASS, mrpt::maps::CPointsMap::loadFromVelodyneScan(), MRPT_END, MRPT_START, mrpt::maps::CPointsMap::size(), and mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams::update_map_after_insertion.

◆ dem_update_map()

void CHeightGridMap2D::dem_update_map ( )

virtual

Ensure that all observations are reflected in the map estimate.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 414 of file CHeightGridMap2D.cpp.

◆ 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::CHeightGridMap2D::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< THeightGridmapCell >::dyngridcommon_readFromStream	(	mrpt::utils::CStream &	in,
		bool	cast_from_float = `false`
	)

inlineprotectedinherited

Definition at line 300 of file CDynamicGrid.h.

◆ dyngridcommon_writeToStream()

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

inlineprotectedinherited

Definition at line 295 of file CDynamicGrid.h.

◆ fill()

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

inlineinherited

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

◆ getAs3DObject()

void CHeightGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH.

Implements mrpt::maps::CMetricMap.

Definition at line 297 of file CHeightGridMap2D.cpp.

◆ getAsMatrix()

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

◆ 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.

◆ getMapType()

TMapRepresentation mrpt::maps::CHeightGridMap2D::getMapType ( )

Return the type of the gas distribution map, according to parameters passed on construction.

◆ getMinMaxHeight()

bool CHeightGridMap2D_Base::getMinMaxHeight	(	float &	z_min,
		float &	z_max
	)		const

inherited

Computes the minimum and maximum height in the grid.

Returns: False if there is no observed cell yet.

Definition at line 35 of file CHeightGridMap2D_Base.cpp.

References mrpt::maps::CHeightGridMap2D_Base::dem_get_size_x(), mrpt::maps::CHeightGridMap2D_Base::dem_get_size_y(), mrpt::maps::CHeightGridMap2D_Base::dem_get_z_by_cell(), mrpt::mrpt::utils::keep_max(), and mrpt::mrpt::utils::keep_min().

Referenced by getAs3DObject(), and mrpt::maps::CHeightGridMap2D_Base::intersectLine3D().

◆ getResolution()

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

inlineinherited

Returns the resolution of the grid map.

Definition at line 238 of file CDynamicGrid.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ getSizeX()

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

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 220 of file CDynamicGrid.h.

◆ getSizeY()

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

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 223 of file CDynamicGrid.h.

◆ getXMax()

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

inlineinherited

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

Definition at line 229 of file CDynamicGrid.h.

◆ getXMin()

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

inlineinherited

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

Definition at line 226 of file CDynamicGrid.h.

◆ getYMax()

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

inlineinherited

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

Definition at line 235 of file CDynamicGrid.h.

◆ getYMin()

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

inlineinherited

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

Definition at line 232 of file CDynamicGrid.h.

◆ 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< THeightGridmapCell >::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.

◆ idx2x()

double mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

Referenced by getAs3DObject().

◆ idx2y()

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

inlineinherited

Definition at line 254 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ insertIndividualPoint()

bool CHeightGridMap2D::insertIndividualPoint	(	const double	x,
		const double	y,
		const double	z,
		const CHeightGridMap2D_Base::TPointInsertParams &	params = `CHeightGridMap2D_Base::TPointInsertParams()`
	)

virtual

Update the DEM with one new point.

See also: mrpt::maps::CMetricMap::insertObservation() for inserting higher-level objects like 2D/3D LIDAR scans

Returns: true if updated OK, false if (x,y) is out of bounds

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 115 of file CHeightGridMap2D.cpp.

References mrpt::maps::THeightGridmapCell::h, mrpt::maps::THeightGridmapCell::u, mrpt::maps::THeightGridmapCell::v, mrpt::maps::THeightGridmapCell::var, and mrpt::maps::THeightGridmapCell::w.

◆ 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().

◆ 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 CHeightGridMap2D::internal_clear ( )

virtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 102 of file CHeightGridMap2D.cpp.

References fill().

◆ internal_computeObservationLikelihood()

double CHeightGridMap2D::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

virtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 149 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CHeightGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 71 of file CHeightGridMap2D.cpp.

References mrpt::maps::CHeightGridMap2D::TMapDefinition::insertionOpts, mrpt::maps::CHeightGridMap2D::TMapDefinition::mapType, mrpt::maps::CHeightGridMap2D::TMapDefinition::max_x, mrpt::maps::CHeightGridMap2D::TMapDefinition::max_y, mrpt::maps::CHeightGridMap2D::TMapDefinition::min_x, mrpt::maps::CHeightGridMap2D::TMapDefinition::min_y, and mrpt::maps::CHeightGridMap2D::TMapDefinition::resolution.

◆ internal_insertObservation()

bool CHeightGridMap2D::internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

virtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 140 of file CHeightGridMap2D.cpp.

◆ intersectLine3D()

bool CHeightGridMap2D_Base::intersectLine3D	(	const mrpt::math::TLine3D &	r1,
		mrpt::math::TObject3D &	obj
	)		const

inherited

Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell)

Definition at line 66 of file CHeightGridMap2D_Base.cpp.

References mrpt::maps::CHeightGridMap2D_Base::dem_get_resolution(), mrpt::maps::CHeightGridMap2D_Base::dem_get_z(), mrpt::maps::CHeightGridMap2D_Base::getMinMaxHeight(), mrpt::math::TObject3D::getPoint(), mrpt::math::intersect(), min, MRPT_END, MRPT_START, mrpt::math::TPoint3D::norm(), mrpt::math::TObject3D, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ isEmpty()

bool CHeightGridMap2D::isEmpty ( ) const

virtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

Definition at line 110 of file CHeightGridMap2D.cpp.

◆ 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<THeightGridmapCell >& mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CHeightGridMap2D::MapDefinition ( )

static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 33 of file CHeightGridMap2D.cpp.

◆ operator delete() [1/3]

void mrpt::maps::CHeightGridMap2D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator delete() [2/3]

void mrpt::maps::CHeightGridMap2D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator delete() [3/3]

void mrpt::maps::CHeightGridMap2D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator delete[]()

void mrpt::maps::CHeightGridMap2D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator new() [1/3]

static void* mrpt::maps::CHeightGridMap2D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator new() [2/3]

void* mrpt::maps::CHeightGridMap2D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator new() [3/3]

void* mrpt::maps::CHeightGridMap2D::operator new ( size_t size )

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ operator new[]()

void* mrpt::maps::CHeightGridMap2D::operator new[] ( size_t size )

inline

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ 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 CHeightGridMap2D::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 193 of file CHeightGridMap2D.cpp.

References ASSERT_, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ resize()

virtual void mrpt::utils::CDynamicGrid< THeightGridmapCell >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const THeightGridmapCell &	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.

◆ saveMetricMapRepresentationToFile()

void CHeightGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::maps::CMetricMap.

Definition at line 287 of file CHeightGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< THeightGridmapCell >::saveToTextFile().

◆ saveToTextFile()

bool mrpt::utils::CDynamicGrid< THeightGridmapCell >::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.

Referenced by saveMetricMapRepresentationToFile().

◆ setSize()

void mrpt::utils::CDynamicGrid< THeightGridmapCell >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const THeightGridmapCell *	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.

◆ 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.

◆ 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 CHeightGridMap2D::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 161 of file CHeightGridMap2D.cpp.

References version.

◆ x2idx()

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

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

◆ xy2idx()

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

inlineinherited

Definition at line 243 of file CDynamicGrid.h.

◆ y2idx()

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

inlineinherited

Definition at line 242 of file CDynamicGrid.h.

Member Data Documentation

◆ _init_CHeightGridMap2D

mrpt::utils::CLASSINIT mrpt::maps::CHeightGridMap2D::_init_CHeightGridMap2D

staticprotected

Definition at line 61 of file maps/CHeightGridMap2D.h.

◆ classCHeightGridMap2D

mrpt::utils::TRuntimeClassId mrpt::maps::CHeightGridMap2D::classCHeightGridMap2D

static

Definition at line 61 of file maps/CHeightGridMap2D.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.

◆ 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::CHeightGridMap2D::classinfo

static

Definition at line 61 of file maps/CHeightGridMap2D.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(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CReflectivityGridMap2D::writeToStream().

◆ insertionOptions

mrpt::maps::CHeightGridMap2D::TInsertionOptions mrpt::maps::CHeightGridMap2D::insertionOptions

Referenced by getAs3DObject().

◆ m_map

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

protectedinherited

The cells.

Definition at line 43 of file CDynamicGrid.h.

Referenced by countObservedCells().

◆ m_mapType

TMapRepresentation mrpt::maps::CHeightGridMap2D::m_mapType

The map representation type of this map.

Definition at line 128 of file maps/CHeightGridMap2D.h.

Referenced by countObservedCells().

◆ m_private_map_register_id

const size_t mrpt::maps::CHeightGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D,heightMap,dem" ,& mrpt::maps::CHeightGridMap2D ::MapDefinition,& mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 139 of file maps/CHeightGridMap2D.h.

◆ m_resolution

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

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by dem_get_resolution().

◆ m_size_x

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

protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by dem_get_size_x(), and getAs3DObject().

◆ m_size_y

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

protectedinherited

Definition at line 48 of file CDynamicGrid.h.

Referenced by dem_get_size_y(), and getAs3DObject().

◆ m_x_max

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

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_x_min

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

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_y_max

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

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_y_min

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

protectedinherited

Definition at line 47 of file CDynamicGrid.h.

Referenced by getAs3DObject().

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

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ TMapRepresentation

Constructor & Destructor Documentation

◆ CHeightGridMap2D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ 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()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ countObservedCells()

◆ Create()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ dem_get_resolution()

◆ dem_get_size_x()

◆ dem_get_size_y()

◆ dem_get_z()

◆ dem_get_z_by_cell()

◆ dem_internal_insertObservation()

◆ dem_update_map()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ fill()

◆ getAs3DObject()

◆ getAsMatrix()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getMapType()

◆ getMinMaxHeight()

◆ getResolution()

◆ GetRuntimeClass()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ hasSubscribers()

◆ idx2cxcy()

◆ idx2x()

◆ idx2y()

◆ insertIndividualPoint()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

◆ intersectLine3D()