CWirelessPowerGridMap2D.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/maps/CRandomFieldGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>

namespace mrpt::maps
{
/** 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::containers::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
 * \ingroup mrpt_maps_grp
 */
class CWirelessPowerGridMap2D : public CRandomFieldGridMap2D
{
    DEFINE_SERIALIZABLE(CWirelessPowerGridMap2D, mrpt::maps)
   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 */
    ~CWirelessPowerGridMap2D() override;

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

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

    } insertionOptions;

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

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

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

    MAP_DEFINITION_START(CWirelessPowerGridMap2D)
    /** See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D */
    double min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
    /** The kind of map representation (see
     * CWirelessPowerGridMap2D::CWirelessPowerGridMap2D) */
    mrpt::maps::CWirelessPowerGridMap2D::TMapRepresentation mapType{
        CWirelessPowerGridMap2D::mrKernelDM};
    mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOpts;
    MAP_DEFINITION_END(CWirelessPowerGridMap2D)
};

}  // namespace mrpt::maps