CRandomFieldGridMap2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CLoadableOptions.h>
#include <mrpt/containers/CDynamicGrid.h>
#include <mrpt/graphs/ScalarFactorGraph.h>
#include <mrpt/img/CImage.h>
#include <mrpt/maps/CMetricMap.h>
#include <mrpt/math/CMatrixD.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/typemeta/TEnumType.h>

#include <list>

namespace mrpt::maps
{
class COccupancyGridMap2D;

// Pragma defined to ensure no structure packing: since we'll serialize
// TRandomFieldCell to streams, we want it not to depend on compiler options,
// etc.
#if defined(MRPT_IS_X86_AMD64)
#pragma pack(push, 1)
#endif

/** The contents of each cell in a CRandomFieldGridMap2D map.
 * \ingroup mrpt_maps_grp
 **/
struct TRandomFieldCell
{
    /** Constructor */
    TRandomFieldCell(double kfmean_dm_mean = 1e-20, double kfstd_dmmeanw = 0)
        : kf_mean(kfmean_dm_mean),
          kf_std(kfstd_dmmeanw),
          last_updated(mrpt::system::now()),
          updated_std(kfstd_dmmeanw)
    {
    }

    // *Note*: Use unions to share memory between data fields, since only a set
    //          of the variables will be used for each mapping strategy.
    // You can access to a "TRandomFieldCell *cell" like: cell->kf_mean,
    // cell->kf_std, etc..
    //  but accessing cell->kf_mean would also modify (i.e. ARE the same memory
    //  slot) cell->dm_mean, for example.

    // Note 2: If the number of type of fields are changed in the future,
    //   *PLEASE* also update the writeToStream() and readFromStream() methods!!

    union {
        /** [KF-methods only] The mean value of this cell */
        double kf_mean;
        /** [Kernel-methods only] The cumulative weighted readings of this cell
         */
        double dm_mean;
        /** [GMRF only] The mean value of this cell */
        double gmrf_mean;
    };

    union {
        /** [KF-methods only] The standard deviation value of this cell */
        double kf_std;
        /** [Kernel-methods only] The cumulative weights (concentration = alpha
         * * dm_mean / dm_mean_w + (1-alpha)*r0 ) */
        double dm_mean_w;
        double gmrf_std;
    };

    /** [Kernel DM-V only] The cumulative weighted variance of this cell */
    double dmv_var_mean{0};

    /** [Dynamic maps only] The timestamp of the last time the cell was updated
     */
    mrpt::system::TTimeStamp last_updated;
    /** [Dynamic maps only] The std cell value that was updated (to be used in
     * the Forgetting_curve */
    double updated_std;
};

#if defined(MRPT_IS_X86_AMD64)
#pragma pack(pop)
#endif

/** CRandomFieldGridMap2D represents a 2D grid map where each cell is associated
 *one real-valued property which is estimated by this map, either
 *   as a simple value or as a probility distribution (for each cell).
 *
 *  There are a number of methods available to build the MRF grid-map,
 *depending on the value of
 *    `TMapRepresentation maptype` passed in the constructor.
 *
 *  The following papers describe the mapping alternatives implemented here:
 *      - `mrKernelDM`: A Gaussian kernel-based method. See:
 *          - "Building gas concentration gridmaps with a mobile robot",
 *Lilienthal,
 *A. and Duckett, T., Robotics and Autonomous Systems, v.48, 2004.
 *      - `mrKernelDMV`: A kernel-based method. See:
 *          - "A Statistical Approach to Gas Distribution Modelling with Mobile
 *Robots--The Kernel DM+ V Algorithm", Lilienthal, A.J. and Reggente, M. and
 *Trincavelli, M. and Blanco, J.L. and Gonzalez, J., IROS 2009.
 *      - `mrKalmanFilter`: A "brute-force" approach to estimate the entire map
 *with a dense (linear) Kalman filter. Will be very slow for mid or large maps.
 *It's provided just for comparison purposes, not useful in practice.
 *      - `mrKalmanApproximate`: A compressed/sparse Kalman filter approach.
 *See:
 *          - "A Kalman Filter Based Approach to Probabilistic Gas Distribution
 *Mapping", JL Blanco, JG Monroy, J Gonzalez-Jimenez, A Lilienthal, 28th
 *Symposium On Applied Computing (SAC), 2013.
 *      - `mrGMRF_SD`: A Gaussian Markov Random Field (GMRF) estimator, with
 *these
 *constraints:
 *          - `mrGMRF_SD`: Each cell only connected to its 4 immediate neighbors
 *(Up,
 *down, left, right).
 *          - (Removed in MRPT 1.5.0: `mrGMRF_G`: Each cell connected to a
 *square
 *area
 *of neighbors cells)
 *          - See papers:
 *              - "Time-variant gas distribution mapping with obstacle
 *information",
 *Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots,
 *40(1), 1-16, 2016.
 *
 *  Note that this class is virtual, since derived classes still have to
 *implement:
 *      - mrpt::maps::CMetricMap::internal_computeObservationLikelihood()
 *      - mrpt::maps::CMetricMap::internal_insertObservation()
 *      - Serialization methods: writeToStream() and readFromStream()
 *
 * [GMRF only] A custom connectivity pattern between cells can be defined by
 *calling setCellsConnectivity().
 *
 * \sa mrpt::maps::CGasConcentrationGridMap2D,
 *mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CMetricMap,
 *mrpt::containers::CDynamicGrid, The application icp-slam,
 *mrpt::maps::CMultiMetricMap
 * \ingroup mrpt_maps_grp
 */
class CRandomFieldGridMap2D
    : public mrpt::maps::CMetricMap,
      public mrpt::containers::CDynamicGrid<TRandomFieldCell>,
      public mrpt::system::COutputLogger
{
    using BASE = mrpt::containers::CDynamicGrid<TRandomFieldCell>;

    DEFINE_VIRTUAL_SERIALIZABLE(CRandomFieldGridMap2D)
   public:
    /** Calls the base CMetricMap::clear
     * Declared here to avoid ambiguity between the two clear() in both base
     * classes.
     */
    inline void clear() { CMetricMap::clear(); }
    // This method is just used for the ::saveToTextFile() method in base class.
    float cell2float(const TRandomFieldCell& c) const override
    {
        return mrpt::d2f(c.kf_mean);
    }

    /** The type of map representation to be used, see CRandomFieldGridMap2D for
     * a discussion.
     */
    enum TMapRepresentation
    {
        /** Gaussian kernel-based estimator (see discussion in
           mrpt::maps::CRandomFieldGridMap2D) */
        mrKernelDM = 0,
        /** Another alias for "mrKernelDM", for backwards compatibility (see
           discussion in mrpt::maps::CRandomFieldGridMap2D) */
        mrAchim = 0,
        /** "Brute-force" Kalman filter (see discussion in
           mrpt::maps::CRandomFieldGridMap2D) */
        mrKalmanFilter,
        /** (see discussion in mrpt::maps::CRandomFieldGridMap2D) */
        mrKalmanApproximate,
        /** Double mean + variance Gaussian kernel-based estimator (see
           discussion in mrpt::maps::CRandomFieldGridMap2D) */
        mrKernelDMV,
        // Removed in MRPT 1.5.0: mrGMRF_G,   //!< Gaussian Markov Random Field,
        // Gaussian prior weights between neighboring cells up to a certain
        // distance (see discussion in mrpt::maps::CRandomFieldGridMap2D)
        /** Gaussian Markov Random Field, squared differences prior weights
           between 4 neighboring cells (see discussion in
           mrpt::maps::CRandomFieldGridMap2D) */
        mrGMRF_SD
    };

    /** Constructor */
    CRandomFieldGridMap2D(
        TMapRepresentation mapType = mrKernelDM, double x_min = -2,
        double x_max = 2, double y_min = -2, double y_max = 2,
        double resolution = 0.1);

    /** Destructor */
    ~CRandomFieldGridMap2D() 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)
     */
    bool isEmpty() const override;

    /** 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 \f$ \sum{\frac{wR}{w}} \f$
     *      mrKalmanFilter: Each pixel is the mean value of the Gaussian that
     *represents each cell.
     *
     * \sa \a getAsBitmapFile()
     */
    virtual void saveAsBitmapFile(const std::string& filName) const;

    /** Returns an image just as described in \a saveAsBitmapFile */
    virtual void getAsBitmapFile(mrpt::img::CImage& out_img) const;

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

    /** Parameters common to any derived class.
     *  Derived classes should derive a new struct from this one, plus "public
     * utils::CLoadableOptions",
     *  and call the internal_* methods where appropiate to deal with the
     * variables declared here.
     *  Derived classes instantions of their "TInsertionOptions" MUST set the
     * pointer "m_insertOptions_common" upon construction.
     */
    struct TInsertionOptionsCommon
    {
        /** Default values loader */
        TInsertionOptionsCommon();

        /** See utils::CLoadableOptions */
        void internal_loadFromConfigFile_common(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section);

        /** See utils::CLoadableOptions */
        void internal_dumpToTextStream_common(std::ostream& out) const;

        /** @name Kernel methods (mrKernelDM, mrKernelDMV)
            @{ */
        /** The sigma of the "Parzen"-kernel Gaussian */
        float sigma{0.15f};
        /** The cutoff radius for updating cells. */
        float cutoffRadius;
        /** Limits for normalization of sensor readings. */
        float R_min{0}, R_max{3};
        /** [DM/DM+V methods] The scaling parameter for the confidence "alpha"
         * values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */
        double dm_sigma_omega{0.05};
        /** @} */

        /** @name Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
            @{ */
        /** The "sigma" for the initial covariance value between cells (in
         * meters). */
        float KF_covSigma{0.35f};
        /** The initial standard deviation of each cell's concentration (will be
         * stored both at each cell's structure and in the covariance matrix as
         * variances in the diagonal) (in normalized concentration units). */
        float KF_initialCellStd{1.0};
        /** The sensor model noise (in normalized concentration units). */
        float KF_observationModelNoise{0};
        /** The default value for the mean of cells' concentration. */
        float KF_defaultCellMeanValue{0};
        /** [mrKalmanApproximate] The size of the window of neighbor cells. */
        uint16_t KF_W_size{4};
        /** @} */

        /** @name Gaussian Markov Random Fields methods (mrGMRF_SD)
            @{ */
        /** The information (Lambda) of fixed map constraints */
        double GMRF_lambdaPrior{0.01f};
        /** The initial information (Lambda) of each observation (this
         * information will decrease with time) */
        double GMRF_lambdaObs{10.0f};
        /** The loss of information of the observations with each iteration */
        double GMRF_lambdaObsLoss{0.0f};

        /** whether to use information of an occupancy_gridmap map for building
         * the GMRF */
        bool GMRF_use_occupancy_information{false};
        /** simplemap_file name of the occupancy_gridmap */
        std::string GMRF_simplemap_file;
        /** image name of the occupancy_gridmap */
        std::string GMRF_gridmap_image_file;
        /** occupancy_gridmap resolution: size of each pixel (m) */
        double GMRF_gridmap_image_res{0.01f};
        /** Pixel coordinates of the origin for the occupancy_gridmap */
        size_t GMRF_gridmap_image_cx{0};
        /** Pixel coordinates of the origin for the occupancy_gridmap */
        size_t GMRF_gridmap_image_cy{0};

        /** (Default:-inf,+inf) Saturate the estimated mean in these limits */
        double GMRF_saturate_min, GMRF_saturate_max;
        /** (Default:false) Skip the computation of the variance, just compute
         * the mean */
        bool GMRF_skip_variance{false};
        /** @} */
    };

    /** Changes the size of the grid, maintaining previous contents. \sa setSize
     */
    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) override;

    /** Changes the size of the grid, erasing previous contents.
     *  \param[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
     * \sa resize
     */
    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 = nullptr);

    /** Base class for user-supplied objects capable of describing cells
     * connectivity, used to build prior factors of the MRF graph. \sa
     * setCellsConnectivity() */
    struct ConnectivityDescriptor
    {
        using Ptr = std::shared_ptr<ConnectivityDescriptor>;
        ConnectivityDescriptor();
        virtual ~ConnectivityDescriptor();

        /** Implement the check of whether node i=(icx,icy) is connected with
         * node j=(jcx,jcy).
         * This visitor method will be called only for immediate neighbors.
         * \return true if connected (and the "information" value should be
         * also updated in out_edge_information), false otherwise.
         */
        virtual bool getEdgeInformation(
            /** The parent map on which we are running */
            const CRandomFieldGridMap2D* parent,
            /** (cx,cy) for node "i" */
            size_t icx, size_t icy,
            /** (cx,cy) for node "j" */
            size_t jcx, size_t jcy,
            /** Must output here the inverse of the variance of the constraint
               edge. */
            double& out_edge_information) = 0;
    };

    /** Sets a custom object to define the connectivity between cells. Must call
     * clear() or setSize() afterwards for the changes to take place. */
    void setCellsConnectivity(
        const ConnectivityDescriptor::Ptr& new_connectivity_descriptor);

    /** See docs in base class: in this class this always returns 0 */
    float compute3DMatchingRatio(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        const TMatchingRatioParams& params) const override;

    /** The implementation in this class just calls all the corresponding method
     * of the contained metric maps */
    void saveMetricMapRepresentationToFile(
        const std::string& filNamePrefix) const override;

    /** 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.
     *  \sa getAsMatlab3DGraphScript    */
    virtual void saveAsMatlab3DGraph(const std::string& filName) const;

    /** Return a large text block with a MATLAB script to plot the contents of
     * this map \sa saveAsMatlab3DGraph
     *  This method can only be called in a KF map model  */
    void getAsMatlab3DGraphScript(std::string& out_script) const;

    /** Returns a 3D object representing the map (mean) */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

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

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

    /** 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.
     */
    void insertIndividualReading(
        /** [in] The value observed in the (x,y) position */
        const double sensorReading,
        /** [in] The (x,y) location */
        const mrpt::math::TPoint2D& point,
        /** [in] Run a global map update after inserting this observatin
           (algorithm-dependant) */
        const bool update_map = true,
        /** [in] Whether the observation "vanishes" with time (false) or not
           (true) [Only for GMRF methods] */
        const bool time_invariant = true,
        /** [in] The uncertainty (standard deviation) of the reading.
           Default="0.0" means use the default settings per map-wide parameters.
           */
        const double reading_stddev = .0);

    enum TGridInterpolationMethod
    {
        gimNearest = 0,
        gimBilinear
    };

    /** Returns the prediction of the measurement at some (x,y) coordinates, and
     * its certainty (in the form of the expected variance).  */
    virtual void predictMeasurement(
        /** [in] Query X coordinate */
        const double x,
        /** [in] Query Y coordinate */
        const double y,
        /** [out] The output value */
        double& out_predict_response,
        /** [out] The output variance */
        double& out_predict_response_variance,
        /** [in] Whether to renormalize the prediction to a predefined
           interval (`R` values in insertionOptions) */
        bool do_sensor_normalization,
        /** [in] Interpolation method */
        const TGridInterpolationMethod interp_method = gimNearest);

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

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

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

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

    void enableVerbose(bool enable_verbose)
    {
        this->setMinLoggingLevel(mrpt::system::LVL_DEBUG);
    }
    bool isEnabledVerbose() const
    {
        return this->getMinLoggingLevel() == mrpt::system::LVL_DEBUG;
    }

    void enableProfiler(bool enable = true)
    {
        this->m_gmrf.enableProfiler(enable);
    }
    bool isProfilerEnabled() const { return this->m_gmrf.isProfilerEnabled(); }

   protected:
    bool m_rfgm_run_update_upon_clear{true};

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

    /** Get the part of the options common to all CRandomFieldGridMap2D classes
     */
    virtual CRandomFieldGridMap2D::TInsertionOptionsCommon*
        getCommonInsertOptions() = 0;

    /** The map representation type of this map, as passed in the constructor */
    TMapRepresentation m_mapType;

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

    /** 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.
     */
    mrpt::math::CMatrixD m_stackedCov;
    /** Only for the KF2 implementation. */
    mutable bool m_hasToRecoverMeanAndCov{true};

    /** @name Auxiliary vars for DM & DM+V methods
        @{ */
    float m_DM_lastCutOff{0};
    std::vector<float> m_DM_gaussWindow;
    double m_average_normreadings_mean{0}, m_average_normreadings_var{0};
    size_t m_average_normreadings_count{0};
    /** @} */

    /** Empty: default */
    ConnectivityDescriptor::Ptr m_gmrf_connectivity;

    mrpt::graphs::ScalarFactorGraph m_gmrf;

    struct TObservationGMRF
        : public mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase
    {
        /** Observation value */
        double obsValue;
        /** "Information" of the observation (=inverse of the variance) */
        double Lambda;
        /** whether the observation will lose weight (lambda) as time goes on
         * (default false) */
        bool time_invariant;

        double evaluateResidual() const override;
        double getInformation() const override;
        void evalJacobian(double& dr_dx) const override;

        TObservationGMRF(CRandomFieldGridMap2D& parent)
            : obsValue(.0), Lambda(.0), time_invariant(false), m_parent(&parent)
        {
        }

       private:
        CRandomFieldGridMap2D* m_parent;
    };

    struct TPriorFactorGMRF
        : public mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase
    {
        /** "Information" of the observation (=inverse of the variance) */
        double Lambda;

        double evaluateResidual() const override;
        double getInformation() const override;
        void evalJacobian(double& dr_dx_i, double& dr_dx_j) const override;

        TPriorFactorGMRF(CRandomFieldGridMap2D& parent)
            : Lambda(.0), m_parent(&parent)
        {
        }

       private:
        CRandomFieldGridMap2D* m_parent;
    };

    // Important: converted to a std::list<> so pointers are NOT invalidated
    // upon deletion.
    /** Vector with the active observations and their respective Information */
    std::vector<std::list<TObservationGMRF>> m_mrf_factors_activeObs;
    /** Vector with the precomputed priors for each GMRF model */
    std::deque<TPriorFactorGMRF> m_mrf_factors_priors;

    /** The implementation of "insertObservation" for Achim Lilienthal's map
     * models DM & DM+V.
     * \param normReading Is a [0,1] normalized concentration reading.
     * \param point Is the sensor location on the map
     * \param is_DMV = false -> map type is Kernel DM; true -> map type is DM+V
     */
    void insertObservation_KernelDM_DMV(
        double normReading, const mrpt::math::TPoint2D& point, bool is_DMV);

    /** The implementation of "insertObservation" for the (whole) Kalman Filter
     * map model.
     * \param normReading Is a [0,1] normalized concentration reading.
     * \param point Is the sensor location on the map
     */
    void insertObservation_KF(
        double normReading, const mrpt::math::TPoint2D& point);

    /** The implementation of "insertObservation" for the Efficient Kalman
     * Filter map model.
     * \param normReading Is a [0,1] normalized concentration reading.
     * \param point Is the sensor location on the map
     */
    void insertObservation_KF2(
        double normReading, const mrpt::math::TPoint2D& point);

    /** The implementation of "insertObservation" for the Gaussian Markov Random
     * Field map model.
     * \param normReading Is a [0,1] normalized concentration reading.
     * \param point Is the sensor location on the map
     */
    void insertObservation_GMRF(
        double normReading, const mrpt::math::TPoint2D& point,
        const bool update_map, const bool time_invariant,
        const double reading_information);

    /** solves the minimum quadratic system to determine the new concentration
     * of each cell */
    void updateMapEstimation_GMRF();

    /** Computes the confidence of the cell concentration (alpha) */
    double computeConfidenceCellValue_DM_DMV(
        const TRandomFieldCell* cell) const;

    /** Computes the average cell concentration, or the overall average value if
     * it has never been observed  */
    double computeMeanCellValue_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  */
    double computeVarCellValue_DM_DMV(const TRandomFieldCell* cell) const;

    /** In the KF2 implementation, takes the auxiliary matrices and from them
     * update the cells' mean and std values.
     * \sa m_hasToRecoverMeanAndCov
     */
    void recoverMeanAndCov() const;

    /** Erase all the contents of the map */
    void internal_clear() override;

    /** Check if two cells of the gridmap (m_map) are connected, based on the
     * provided occupancy gridmap*/
    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);
};

}  // namespace mrpt::maps
MRPT_ENUM_TYPE_BEGIN(mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation)
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation, mrKernelDM);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation, mrKalmanFilter);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation, mrKalmanApproximate);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation, mrKernelDMV);
MRPT_FILL_ENUM_MEMBER(
    mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation, mrGMRF_SD);
MRPT_ENUM_TYPE_END()