maps/CWirelessPowerGridMap2D.h

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

#ifndef CWirelessPowerGridMap2D_H
#define CWirelessPowerGridMap2D_H

#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>

#include <mrpt/maps/link_pragmas.h>

namespace mrpt
{
namespace maps
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CWirelessPowerGridMap2D , CRandomFieldGridMap2D, MAPS_IMPEXP )

        /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
          *
          *  There are a number of methods available to build the wifi grid-map, depending on the value of
          *    "TMapRepresentation maptype" passed in the constructor (see CRandomFieldGridMap2D for a discussion).
          *
          * Update the map with insertIndividualReading() or insertObservation()
          *
          * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap
          * \ingroup mrpt_maps_grp
          */
        class MAPS_IMPEXP CWirelessPowerGridMap2D : public CRandomFieldGridMap2D
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CWirelessPowerGridMap2D )
        public:
                /** Constructor */
                CWirelessPowerGridMap2D(TMapRepresentation mapType = mrKernelDM, double x_min = -2, double x_max = 2, double y_min = -2, double y_max = 2, double resolution = 0.1);

                /** Destructor */
                virtual ~CWirelessPowerGridMap2D();

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

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

                } insertionOptions;

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

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

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

                MAP_DEFINITION_START(CWirelessPowerGridMap2D,MAPS_IMPEXP)
                        double min_x,max_x,min_y,max_y,resolution;      //!< See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
                        mrpt::maps::CWirelessPowerGridMap2D::TMapRepresentation mapType;        //!< The kind of map representation (see CWirelessPowerGridMap2D::CWirelessPowerGridMap2D)
                        mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions  insertionOpts;
                MAP_DEFINITION_END(CWirelessPowerGridMap2D,MAPS_IMPEXP)

        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CWirelessPowerGridMap2D , CRandomFieldGridMap2D, MAPS_IMPEXP )

        } // End of namespace
} // End of namespace

#endif