class mrpt::maps::CHeightGridMap2D_Base

Virtual base class for Digital Elevation Model (DEM) maps.

See derived classes for details. This class implements those operations which are especific to DEMs.

#include <mrpt/maps/CHeightGridMap2D_Base.h>

class CHeightGridMap2D_Base
{
public:
    // structs

    struct TPointInsertParams;

    //
methods

    virtual bool insertIndividualPoint(
        const double x,
        const double y,
        const double z,
        const TPointInsertParams& params = TPointInsertParams()
        ) = 0;

    virtual double dem_get_resolution() const = 0;
    virtual size_t dem_get_size_x() const = 0;
    virtual size_t dem_get_size_y() const = 0;
    virtual bool dem_get_z_by_cell(const size_t cx, const size_t cy, double& z_out) const = 0;
    virtual bool dem_get_z(const double x, const double y, double& z_out) const = 0;
    virtual void dem_update_map() = 0;
};

// direct descendants

class CHeightGridMap2D;
class CHeightGridMap2D_MRF;

Methods

virtual bool insertIndividualPoint(
    const double x,
    const double y,
    const double z,
    const TPointInsertParams& params = TPointInsertParams()
    ) = 0

Update the DEM with one new point.

Returns:

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

See also:

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

virtual bool dem_get_z_by_cell(const size_t cx, const size_t cy, double& z_out) const = 0

Get cell ‘z’ by (cx,cy) cell indices.

Returns:

false if out of bounds or un-observed cell.

virtual bool dem_get_z(const double x, const double y, double& z_out) const = 0

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

Returns:

false if out of bounds or un-observed cell.

virtual void dem_update_map() = 0

Ensure that all observations are reflected in the map estimate.