CWirelessPowerGridMap2D.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 CWirelessPowerGridMap2D_H
#define CWirelessPowerGridMap2D_H

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

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

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

                void loadFromConfigFile(
                        const mrpt::utils::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        mrpt::utils::CStream& 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
         */
        virtual 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, max_x, min_y, max_y, resolution;
        /** The kind of map representation (see
         * CWirelessPowerGridMap2D::CWirelessPowerGridMap2D) */
        mrpt::maps::CWirelessPowerGridMap2D::TMapRepresentation mapType;
        mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOpts;
        MAP_DEFINITION_END(CWirelessPowerGridMap2D, )
};

}  // End of namespace
}  // End of namespace

#endif