class mrpt::maps::CGasConcentrationGridMap2D

Overview

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

There are a number of methods available to build the gas grid-map, depending on the value of “TMapRepresentation maptype” passed in the constructor (see base class mrpt::maps::CRandomFieldGridMap2D).

Update the map with insertIndividualReading() or insertObservation()

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CMetricMap> Ptr;
    typedef std::shared_ptr<const CMetricMap> ConstPtr;
    typedef std::vector<T> grid_data_t;
    typedef typename grid_data_t::iterator iterator;
    typedef typename grid_data_t::const_iterator const_iterator;
    typedef std::shared_ptr<CRandomFieldGridMap2D> Ptr;
    typedef std::shared_ptr<const CRandomFieldGridMap2D> ConstPtr;

    // enums

    enum TGridInterpolationMethod;
    enum TMapRepresentation;

    // structs

    struct TMsg;
    struct ConnectivityDescriptor;
    struct TInsertionOptionsCommon;
    struct TObservationGMRF;
    struct TPriorFactorGMRF;

    // fields

    TMapGenericParams genericMapParams;
    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual std::string asString() const = 0;
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    std::shared_ptr<mrpt::viz::CSetOfObjects> getVisualization() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    virtual bool isEmpty() const = 0;
    virtual auto boundingBox() const;
    void loadFromSimpleMap(const mrpt::maps::CSimpleMap& Map);
    bool insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    bool insertObservationPtr(const mrpt::obs::CObservation::Ptr& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    double computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation& obs) const;
    double computeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf, const mrpt::poses::CPose3D& takenFrom);
    bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf) const;

    virtual void determineMatching2D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose2D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual void determineMatching3D(
        const mrpt::maps::CMetricMap* otherMap,
        const mrpt::poses::CPose3D& otherMapPose,
        mrpt::tfest::TMatchingPairList& correspondences,
        const TMatchingParams& params,
        TMatchingExtraResults& extraResults
        ) const;

    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual void auxParticleFilterCleanUp();
    virtual float squareDistanceToClosestCorrespondence(float x0, float y0) const;
    const grid_data_t& data() const;
    iterator begin();
    iterator end();
    const_iterator begin() const;
    const_iterator end() const;

    void setSize(
        const double x_min,
        const double x_max,
        const double y_min,
        const double y_max,
        const double resolution,
        const T* fill_value = nullptr
        );

    void clear();
    void fill(const T& value);

    virtual void resize(
        double new_x_min,
        double new_x_max,
        double new_y_min,
        double new_y_max,
        const T& defaultValueNewCells,
        double additionalMarginMeters = 2.0
        );

    T* cellByPos(double x, double y);
    const T* cellByPos(double x, double y) const;
    T* cellByIndex(unsigned int cx, unsigned int cy);
    const T* cellByIndex(unsigned int cx, unsigned int cy) const;
    size_t getSizeX() const;
    size_t getSizeY() const;
    double getXMin() const;
    double getXMax() const;
    double getYMin() const;
    double getYMax() const;
    double getResolution() const;
    int x2idx(double x) const;
    int y2idx(double y) const;
    int xy2idx(double x, double y) const;
    void idx2cxcy(int idx, int& cx, int& cy) const;
    double idx2x(int cx) const;
    double idx2y(int cy) const;

    template <class MAT>
    void getAsMatrix(MAT& m) const;

    virtual float cell2float(const T&) const;
    bool saveToTextFile(const std::string& fileName) const;
    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setVerbosityLevel(const VerbosityLevel level);
    void setVerbosityLevelForCallbacks(const VerbosityLevel level);
    void setMinLoggingLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    VerbosityLevel getMinLoggingLevelForCallbacks() const;
    bool isLoggingLevelVisible(VerbosityLevel level) const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string>& fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    void logRegisterCallback(output_logger_callback_t userFunc);
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static const std::array<const char*, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    float cell2float(const TRandomFieldCell& c) const;
    virtual std::string asString() const;
    virtual bool isEmpty() const;
    virtual void saveAsBitmapFile(const std::string& filName) const;
    virtual void getAsBitmapFile(mrpt::img::CImage& out_img) const;
    virtual void getAsMatrix(mrpt::math::CMatrixDouble& out_mat) const;

    void resize(
        double new_x_min,
        double new_x_max,
        double new_y_min,
        double new_y_max,
        const TRandomFieldCell& defaultValueNewCells,
        double additionalMarginMeters = 1.0f
        );

    virtual void setSize(
        const double x_min,
        const double x_max,
        const double y_min,
        const double y_max,
        const double resolution,
        const TRandomFieldCell* fill_value = nullptr
        );

    void setCellsConnectivity(const ConnectivityDescriptor::Ptr& new_connectivity_descriptor);
    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
    virtual void saveAsMatlab3DGraph(const std::string& filName) const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const;
    virtual void getAs3DObject(mrpt::viz::CSetOfObjects& meanObj, mrpt::viz::CSetOfObjects& varObj) const;
    TMapRepresentation getMapType();

    void insertIndividualReading(
        const double sensorReading,
        const mrpt::math::TPoint2D& point,
        const bool update_map = true,
        const bool time_invariant = true,
        const double reading_stddev = .0
        );

    virtual void predictMeasurement(
        const double x,
        const double y,
        double& out_predict_response,
        double& out_predict_response_variance,
        bool do_sensor_normalization,
        const TGridInterpolationMethod interp_method = gimNearest
        );

    void getMeanAndCov(mrpt::math::CVectorDouble& out_means, mrpt::math::CMatrixDouble& out_cov) const;
    void getMeanAndSTD(mrpt::math::CVectorDouble& out_means, mrpt::math::CVectorDouble& out_STD) const;
    void setMeanAndSTD(mrpt::math::CVectorDouble& out_means, mrpt::math::CVectorDouble& out_STD);
    void updateMapEstimation();
    void enableVerbose(] bool enable_verbose);
    bool isEnabledVerbose() const;
    void enableProfiler(bool enable = true);
    bool isProfilerEnabled() const;
    OptionsCapable& operator = (const OptionsCapable&);
    OptionsCapable& operator = (OptionsCapable&&);
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName() = 0;
    virtual bool trySetCreationOptions(] const mrpt::config::CConfigFileBase& cfg, ] const std::string& section);

Typedefs

typedef std::shared_ptr<mrpt::maps ::CGasConcentrationGridMap2D> Ptr

A type for the associated smart pointer.

Fields

static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CGasConcentrationGridMap2D,gasGrid" ,& mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition,& mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

Construction

CGasConcentrationGridMap2D(
    TMapRepresentation mapType = mrAchim,
    float x_min = -2,
    float x_max = 2,
    float y_min = -2,
    float y_max = 2,
    float resolution = 0.1f
    )

Constructor.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual mrpt::rtti::CObject* clone() const

Returns a deep copy (clone) of the object, indepently of its class.

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CGasConcentrationGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName()

Maps an options-group name (e.g.

“insertionOptions”) to a pointer to the corresponding, live CLoadableOptions member. Pointers remain valid as long as this is alive, and point directly to the actual option members (no copies), so writes through them (e.g. via loadFromConfigFile()) take effect immediately.

Implementations should list every CLoadableOptions member they define, INCLUDING “creationOptions” if present (so it can be discovered/exported generically); however, callers must use trySetCreationOptions(), not a direct write through this pointer, to safely modify creation options.

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const

Returns a 3D object representing the map.

virtual void getAs3DObject(mrpt::viz::CSetOfObjects& meanObj, mrpt::viz::CSetOfObjects& varObj) const

Returns two 3D objects representing the mean and variance maps.

mrpt::viz::CSetOfObjects::Ptr getWindAs3DObject() const

Returns the 3D object representing the wind grid information.

void getWindAs3DObject(mrpt::viz::CSetOfObjects::Ptr& windObj) const

Deprecated Use getWindAs3DObject() returning Ptr instead.

virtual void increaseUncertainty(const double STD_increase_value)

Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simulate loss of confidence in measurements when time passes.

bool simulateAdvection(double STD_increase_value)

Implements the transition model of the gasConcentration map using the information of the wind maps