CHeightGridMap2D_Base.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 CHeightGridMap2D_Base_H
#define CHeightGridMap2D_Base_H

#include <mrpt/obs/CObservation.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt
{
namespace maps
{
/** Virtual base class for Digital Elevation Model (DEM) maps. See derived
 * classes for details.
  * This class implements those operations which are especific to DEMs.
  * \ingroup mrpt_maps_grp */
class CHeightGridMap2D_Base
{
   public:
        CHeightGridMap2D_Base();
        virtual ~CHeightGridMap2D_Base();

        /** @name Specific API for Digital Elevation Model (DEM) maps
                @{ */
        /** Gets the intersection between a 3D line and a Height Grid map (taking
         * into account the different heights of each individual cell)  */
        bool intersectLine3D(
                const mrpt::math::TLine3D& r1, mrpt::math::TObject3D& obj) const;

        /** Computes the minimum and maximum height in the grid.
          * \return False if there is no observed cell yet. */
        bool getMinMaxHeight(float& z_min, float& z_max) const;

        /** Extra params for insertIndividualPoint() */
        struct TPointInsertParams
        {
                /** (Default:0.0) If !=0, use this value as the uncertainty (standard
                 * deviation) for the point "z" coordinate, instead of the map-wise
                 * default value. */
                double pt_z_std;
                /** (default: true) run any required operation to ensure the map
                 * reflects the changes caused by this point. Otherwise, calling
                 * dem_update_map() is required. */
                bool update_map_after_insertion;

                TPointInsertParams();
        };
        /** Update the DEM with one new point.
          * \sa mrpt::maps::CMetricMap::insertObservation() for inserting
         * higher-level objects like 2D/3D LIDAR scans
          * \return true if updated OK, false if (x,y) is out of bounds */
        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;
        /** Get cell 'z' by (cx,cy) cell indices. \return false if out of bounds or
         * un-observed cell. */
        virtual bool dem_get_z_by_cell(
                const size_t cx, const size_t cy, double& z_out) const = 0;
        /** Get cell 'z' (x,y) by metric coordinates. \return 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;
        /** Ensure that all observations are reflected in the map estimate */
        virtual void dem_update_map() = 0;
        /** @} */

        /** Internal method called by internal_insertObservation() */
        bool dem_internal_insertObservation(
                const mrpt::obs::CObservation* obs,
                const mrpt::poses::CPose3D* robotPose = nullptr);
};
}  // End of namespace
}  // End of namespace
#endif