Namespaces
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	internal

Classes
class	CBeacon
	The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...

class	CBeaconMap
	A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More...

class	CColouredOctoMap
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

class	CColouredPointsMap
	A map of 2D/3D points with individual colours (RGB). More...

class	CGasConcentrationGridMap2D
	CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...

class	CHeightGridMap2D
	Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location. More...

class	CHeightGridMap2D_Base
	Virtual base class for Digital Elevation Model (DEM) maps. More...

class	CHeightGridMap2D_MRF
	CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty, based on a Markov-Random-Field (MRF) estimator. More...

class	CLandmark
	The class for storing "landmarks" (visual or laser-scan-extracted features,...) More...

class	CLandmarksMap
	A class for storing a map of 3D probabilistic landmarks. More...

struct	CLogOddsGridMap2D
	A generic provider of log-odds grid-map maintainance functions. More...

struct	CLogOddsGridMapLUT
	One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More...

class	CMetricMap
	Declares a virtual base class for all metric maps storage classes. More...

class	CMultiMetricMap
	This class stores any customizable set of metric maps. More...

class	CMultiMetricMapPDF
	Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications). More...

class	CMultiMetricMapPDFParticles

class	COccupancyGridMap2D
	A class for storing an occupancy grid map. More...

class	COctoMap
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

class	COctoMapBase
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

class	CPointCloudFilterBase
	Virtual base class for all point-cloud filtering algorithm. More...

class	CPointCloudFilterByDistance
	Implementation of pointcloud filtering based on requisities for minimum neigbouring points in both, the current timestamp and a previous one. More...

class	CPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...

class	CRandomFieldGridMap2D
	CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...

class	CRandomFieldGridMap3D
	CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class. More...

class	CRBPFParticleData
	Auxiliary class used in mrpt::maps::CMultiMetricMapPDF. More...

class	CReflectivityGridMap2D
	A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...

class	CSimpleMap
	This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...

class	CSimplePointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

class	CWeightedPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

class	CWirelessPowerGridMap2D
	CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...

struct	LAS_HeaderInfo
	Extra information gathered from the LAS file header. More...

struct	LAS_LoadParams
	Optional settings for loadLASFile() More...

struct	LAS_WriteParams
	Optional settings for saveLASFile() More...

class	mrptEventMetricMapClear
	Event emitted by a metric up upon call of clear() More...

class	mrptEventMetricMapInsert
	Event emitted by a metric up upon a succesful call to insertObservation() More...

struct	THeightGridmapCell
	The contents of each cell in a CHeightGridMap2D map. More...

class	TMapGenericParams
	Common params to all maps derived from mrpt::maps::CMetricMap. More...

struct	TMatchingExtraResults
	Additional results from the determination of matchings between point clouds, etc., apart from the pairings themselves. More...

struct	TMatchingParams
	Parameters for the determination of matchings between point clouds, etc. More...

struct	TMatchingRatioParams
	Parameters for CMetricMap::compute3DMatchingRatio() More...

struct	TMetricMapInitializer
	Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See `mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile()` as an easy way of initialize this object, or construct with the factory methods `<metric_map_class>::MapDefinition()` and `TMetricMapInitializer::factory()` More...

struct	TRandomFieldCell
	The contents of each cell in a CRandomFieldGridMap2D map. More...

struct	TRandomFieldVoxel
	The contents of each voxel in a CRandomFieldGridMap3D map. More...

class	TSetOfMetricMapInitializers
	A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More...

Typedefs
typedef std::deque< CMetricMap * >	TMetricMapList
	A list of metric maps (used in the mrpt::poses::CPosePDFParticles class): More...

Functions
bool	operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2)

template<class POINTSMAP >
bool	saveLASFile (const POINTSMAP &ptmap, const std::string &filename, const LAS_WriteParams &params=LAS_WriteParams())
	Save the point cloud as an ASPRS LAS binary file (requires MRPT built against liblas). More...

template<class POINTSMAP >
bool	loadLASFile (POINTSMAP &ptmap, const std::string &filename, LAS_HeaderInfo &out_headerInfo, const LAS_LoadParams &params=LAS_LoadParams())
	Load the point cloud from an ASPRS LAS binary file (requires MRPT built against liblas). More...

template<>
void	CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal > (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)

template<>
void	CMultiMetricMapPDF::prediction_and_update< mrpt::slam::StandardProposal > (const mrpt::obs::CActionCollection actions, const mrpt::obs::CSensoryFrame sf, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)

Typedef Documentation

◆ TMetricMapList

typedef std::deque<CMetricMap*> mrpt::maps::TMetricMapList

A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):

Definition at line 314 of file CMetricMap.h.

Function Documentation

◆ CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >()

template<>

void mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

if (prior_dist_lin>0.10 || prior_dist_ang>DEG2RAD(3)) / printf(" >>>>>>>>>> %f %f\n",prior_dist_lin,RAD2DEG(prior_dist_ang));

Todo:: Add paper ref!

COpenGLScene scene; opengl::CSetOfObjects *obj = new opengl::CSetOfObjects(); fusedObsModels.getAs3DObject( *obj ); scene.insert( obj ); CFileStream("debug.3Dscene",fomWrite) << scene; cout << "fusedObsModels # of modes: " << fusedObsModels.m_modes.size() << endl; printf("ESS: %f\n",fusedObsModels.ESS() ); cout << fusedObsModels.getEstimatedCovariance() << endl; mrpt::system::pause(); /

                                                                /
                                                                                                                            CPointPDFSOG
                                                            newObsModel;
                                                                                                                            (itBeacs)->generateObservationModelDistribution(
                                                                                                                                    sensedRange,
                                                                                                                                    newObsModel,
                                                                                                                                    beacMap,

The beacon map, for options itObs->sensorLocationOnRobot,// Sensor location on robot centerPositionPrior, centerPositionPriorRadius ); /

Todo:: If there are 2+ sensors on the robot, compute phi?

Definition at line 168 of file CMultiMetricMapPDF_RBPF.cpp.

Here is the call graph for this function:

◆ CMultiMetricMapPDF::prediction_and_update< mrpt::slam::StandardProposal >()

template<>

void mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::StandardProposal >	(	const mrpt::obs::CActionCollection *	actions,
		const mrpt::obs::CSensoryFrame *	sf,
		const bayes::CParticleFilter::TParticleFilterOptions &	PF_options
	)

Definition at line 960 of file CMultiMetricMapPDF_RBPF.cpp.

References MRPT_END, and MRPT_START.

◆ operator<()

bool mrpt::maps::operator<	(	const COccupancyGridMap2D::TPairLikelihoodIndex &	e1,
		const COccupancyGridMap2D::TPairLikelihoodIndex &	e2
	)

Definition at line 772 of file COccupancyGridMap2D_common.cpp.

Namespaces

Classes