mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks Struct Reference

Detailed Description

The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.

Definition at line 135 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Public Types
using	iterator = internal::TSequenceLandmarks::iterator
using	const_iterator = internal::TSequenceLandmarks::const_iterator

Public Member Functions
	TCustomSequenceLandmarks ()
	Default constructor. More...
iterator	begin ()
iterator	end ()
void	clear ()
size_t	size () const
const_iterator	begin () const
const_iterator	end () const
void	push_back (const CLandmark &lm)
	The object is copied, thus the original copy passed as a parameter can be released. More...
CLandmark *	get (unsigned int indx)
const CLandmark *	get (unsigned int indx) const
void	isToBeModified (unsigned int indx)
void	hasBeenModified (unsigned int indx)
void	hasBeenModifiedAll ()
void	erase (unsigned int indx)
mrpt::containers::CDynamicGrid< std::vector< int32_t > > *	getGrid ()
const CLandmark *	getByID (CLandmark::TLandmarkID ID) const
	Returns the landmark with a given landmrk ID, or nullptr if not found. More...
const CLandmark *	getByBeaconID (unsigned int ID) const
	Returns the landmark with a given beacon ID, or nullptr if not found. More...
float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...

Private Attributes
internal::TSequenceLandmarks	m_landmarks
	The actual list. More...
mrpt::containers::CDynamicGrid< std::vector< int32_t > >	m_grid
	A grid-map with the set of landmarks falling into each cell. More...
float	m_largestDistanceFromOrigin
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...
bool	m_largestDistanceFromOriginIsUpdated
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

Member Typedef Documentation

const_iterator

using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator = internal::TSequenceLandmarks::const_iterator

Definition at line 166 of file CLandmarksMap.h.

iterator

using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator = internal::TSequenceLandmarks::iterator

Definition at line 161 of file CLandmarksMap.h.

Constructor & Destructor Documentation

TCustomSequenceLandmarks()

CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks

(

)

Default constructor.

Definition at line 1863 of file CLandmarksMap.cpp.

Member Function Documentation

begin() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( )

inline

Definition at line 162 of file CLandmarksMap.h.

References m_landmarks.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

begin() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( ) const

inline

Definition at line 167 of file CLandmarksMap.h.

References m_landmarks.

clear()

void CLandmarksMap::TCustomSequenceLandmarks::clear

(

)

Definition at line 1871 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::CLandmarksMap(), mrpt::maps::CLandmarksMap::internal_clear(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::serializeFrom(), and mrpt::maps::CLandmarksMap::~CLandmarksMap().

end() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( )

inline

Definition at line 163 of file CLandmarksMap.h.

References m_landmarks.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

end() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( ) const

inline

Definition at line 168 of file CLandmarksMap.h.

References m_landmarks.

erase()

void CLandmarksMap::TCustomSequenceLandmarks::erase

(

unsigned int

indx

)

Definition at line 1931 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

get() [1/2]

CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get

(

unsigned int

indx

)

Definition at line 1902 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::fuseWith().

get() [2/2]

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get

(

unsigned int

indx

)

const

Definition at line 1907 of file CLandmarksMap.cpp.

getByBeaconID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID

(

unsigned int

ID

)

const

Returns the landmark with a given beacon ID, or nullptr if not found.

Definition at line 2640 of file CLandmarksMap.cpp.

Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

getByID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID

(

CLandmark::TLandmarkID

ID

)

const

Returns the landmark with a given landmrk ID, or nullptr if not found.

Definition at line 2619 of file CLandmarksMap.cpp.

getGrid()

mrpt::containers::CDynamicGrid<std::vector<int32_t> >* mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getGrid ( )

inline

Definition at line 180 of file CLandmarksMap.h.

References m_grid.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007().

getLargestDistanceFromOrigin()

float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin

(

)

const

This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).

Definition at line 1995 of file CLandmarksMap.cpp.

References begin(), and mrpt::square().

Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio().

hasBeenModified()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified

(

unsigned int

indx

)

Definition at line 1937 of file CLandmarksMap.cpp.

References min.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

hasBeenModifiedAll()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModifiedAll

(

)

Definition at line 1955 of file CLandmarksMap.cpp.

References min, MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference().

isToBeModified()

void CLandmarksMap::TCustomSequenceLandmarks::isToBeModified

(

unsigned int

indx

)

Definition at line 1913 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

push_back()

void CLandmarksMap::TCustomSequenceLandmarks::push_back

(

const CLandmark &

lm

)

The object is copied, thus the original copy passed as a parameter can be released.

Definition at line 1881 of file CLandmarksMap.cpp.

References ASSERT_, min, mrpt::maps::CLandmark::pose_mean, mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), mrpt::maps::CLandmarksMap::serializeFrom(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

size()

size_t mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::size ( ) const

inline

Definition at line 165 of file CLandmarksMap.h.

References m_landmarks.

Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::serializeTo(), and mrpt::maps::CLandmarksMap::size().

Member Data Documentation

m_grid

mrpt::containers::CDynamicGrid<std::vector<int32_t> > mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_grid

private

A grid-map with the set of landmarks falling into each cell.

Todo:

Use the KD-tree instead?

Definition at line 144 of file CLandmarksMap.h.

Referenced by getGrid().

m_landmarks

internal::TSequenceLandmarks mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_landmarks

private

The actual list.

Definition at line 139 of file CLandmarksMap.h.

Referenced by begin(), end(), and size().

m_largestDistanceFromOrigin

float mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOrigin

mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 149 of file CLandmarksMap.h.

m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOriginIsUpdated

mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also

getLargestDistanceFromOrigin

Definition at line 154 of file CLandmarksMap.h.