COccupancyGridMap3D_likelihood.cpp

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

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

#include <mrpt/maps/COccupancyGridMap3D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservation3DRangeScan.h>

using namespace mrpt::maps;

double COccupancyGridMap3D::internal_computeObservationLikelihood(
    const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom3D)
{
    THROW_EXCEPTION("Implement me!");
    return .0;
}

bool COccupancyGridMap3D::internal_canComputeObservationLikelihood(
    const mrpt::obs::CObservation& obs) const
{
    if (auto* o = dynamic_cast<const mrpt::obs::CObservation2DRangeScan*>(&obs);
        o != nullptr)
    {
        return true;
    }

    return false;
}

void COccupancyGridMap3D::TInsertionOptions::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& iniFile, const std::string& section)
{
    MRPT_LOAD_CONFIG_VAR(maxDistanceInsertion, float, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(maxOccupancyUpdateCertainty, float, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(maxFreenessUpdateCertainty, float, iniFile, section);
    MRPT_LOAD_CONFIG_VAR(decimation, int, iniFile, section);
}

void COccupancyGridMap3D::TInsertionOptions::saveToConfigFile(
    mrpt::config::CConfigFileBase& c, const std::string& s) const
{
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        maxDistanceInsertion,
        "Largest distance at which voxels are updated (Default: 15 meters)");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        maxOccupancyUpdateCertainty,
        "A value in the range [0.5,1] used for updating voxel with a Bayesian "
        "approach (default 0.65)");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        maxFreenessUpdateCertainty,
        "A value in the range [0.5,1] for updating a free voxel. (default=0 "
        "means use the same than maxOccupancyUpdateCertainty)");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        decimation,
        "Specify the decimation of the range scan (default=1: take all)");
}