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mrpt::maps::CHeightGridMap2D_MRF Class Reference

Detailed Description

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

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()

See Also
mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap
Note
New in MRPT 1.4.0

Definition at line 34 of file CHeightGridMap2D_MRF.h.

#include <mrpt/maps/CHeightGridMap2D_MRF.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D_MRF:
Inheritance graph

Classes

struct  TInsertionOptions
 Parameters related with inserting observations into the map. More...
 
struct  TMapDefinition
 
struct  TMapDefinitionBase
 

Public Types

enum  TMapRepresentation {
  mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate,
  mrKernelDMV, mrGMRF_SD
}
 The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...
 
enum  TGridInterpolationMethod { gimNearest = 0, gimBilinear }
 
typedef stlplus::smart_ptr
< ConnectivityDescriptor
ConnectivityDescriptorPtr
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CHeightGridMap2D_MRF (TMapRepresentation mapType=mrGMRF_SD, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.5, bool run_first_map_estimation_now=true)
 Constructor. More...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map. More...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const MRPT_OVERRIDE
 Returns two 3D objects representing the mean and variance maps. More...
 
virtual bool insertIndividualPoint (const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams &params=CHeightGridMap2D_Base::TPointInsertParams()) MRPT_OVERRIDE
 Update the DEM with one new point. More...
 
virtual double dem_get_resolution () const MRPT_OVERRIDE
 
virtual size_t dem_get_size_x () const MRPT_OVERRIDE
 
virtual size_t dem_get_size_y () const MRPT_OVERRIDE
 
virtual bool dem_get_z_by_cell (const size_t cx, const size_t cy, double &z_out) const MRPT_OVERRIDE
 Get cell 'z' by (cx,cy) cell indices. More...
 
virtual bool dem_get_z (const double x, const double y, double &z_out) const MRPT_OVERRIDE
 Get cell 'z' (x,y) by metric coordinates. More...
 
virtual void dem_update_map () MRPT_OVERRIDE
 Ensure that all observations are reflected in the map estimate. More...
 
virtual
CRandomFieldGridMap2D::TInsertionOptionsCommon
getCommonInsertOptions () MRPT_OVERRIDE
 Get the part of the options common to all CRandomFieldGridMap2D classes. More...
 
void internal_clear () MRPT_OVERRIDE
 Erase all the contents of the map. More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
 Internal method called by insertObservation() More...
 
double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
 Internal method called by computeObservationLikelihood() More...
 
void clear ()
 Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...
 
float cell2float (const TRandomFieldCell &c) const MRPT_OVERRIDE
 
virtual float cell2float (const TRandomFieldCell &c) const
 The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
 
virtual bool isEmpty () const MRPT_OVERRIDE
 Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes) More...
 
virtual void saveAsBitmapFile (const std::string &filName) const
 Save the current map as a graphical file (BMP,PNG,...). More...
 
virtual void getAsBitmapFile (mrpt::utils::CImage &out_img) const
 Returns an image just as described in saveAsBitmapFile. More...
 
virtual void getAsMatrix (mrpt::math::CMatrixDouble &out_mat) const
 Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map) More...
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
virtual 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) MRPT_OVERRIDE
 Changes the size of the grid, maintaining previous contents. More...
 
virtual void resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=2.0)
 Changes the size of the grid, maintaining previous contents. More...
 
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=NULL)
 Changes the size of the grid, erasing previous contents. More...
 
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=NULL)
 Changes the size of the grid, ERASING all previous contents. More...
 
void setCellsConnectivity (const ConnectivityDescriptorPtr &new_connectivity_descriptor)
 Sets a custom object to define the connectivity between cells. More...
 
float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const MRPT_OVERRIDE
 See docs in base class: in this class this always returns 0. More...
 
virtual void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE
 The implementation in this class just calls all the corresponding method of the contained metric maps. More...
 
virtual void saveAsMatlab3DGraph (const std::string &filName) const
 Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell. More...
 
void getAsMatlab3DGraphScript (std::string &out_script) const
 Return a large text block with a MATLAB script to plot the contents of this map. More...
 
TMapRepresentation getMapType ()
 Return the type of the random-field grid map, according to parameters passed on construction. More...
 
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)
 Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor. More...
 
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)
 Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance). More...
 
void getMeanAndCov (mrpt::math::CVectorDouble &out_means, mrpt::math::CMatrixDouble &out_cov) const
 Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods). More...
 
void getMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD) const
 Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...
 
void setMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD)
 Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...
 
void updateMapEstimation ()
 Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations. More...
 
void enableVerbose (bool enable_verbose)
 
bool isEnabledVerbose () const
 
void enableProfiler (bool enable=true)
 
bool isProfilerEnabled () const
 
void loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
void loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) const
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
virtual void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
virtual const
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap () const
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
virtual
mrpt::maps::CSimplePointsMap
getAsSimplePointsMap ()
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
void fill (const TRandomFieldCell &value)
 Fills all the cells with the same value. More...
 
TRandomFieldCellcellByPos (double x, double y)
 Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. More...
 
const TRandomFieldCellcellByPos (double x, double y) const
 
TRandomFieldCellcellByIndex (unsigned int cx, unsigned int cy)
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
const TRandomFieldCellcellByIndex (unsigned int cx, unsigned int cy) const
 Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. More...
 
size_t getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
size_t getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
double getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
double getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
double getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
double getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
double getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (double x) const
 Transform a coordinate values into cell indexes. More...
 
int y2idx (double y) const
 
int xy2idx (double x, double y) const
 
void idx2cxcy (const int &idx, int &cx, int &cy) const
 Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...
 
double idx2x (int cx) const
 Transform a cell index into a coordinate value of the cell central point. More...
 
double idx2y (int cy) const
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 
bool dem_internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Internal method called by internal_insertObservation() More...
 
Specific API for Digital Elevation Model (DEM) maps
bool intersectLine3D (const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
 Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell) More...
 
bool getMinMaxHeight (float &z_min, float &z_max) const
 Computes the minimum and maximum height in the grid. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOptions
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCRandomFieldGridMap2D
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCMetricMap
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void insertObservation_KernelDM_DMV (double normReading, const mrpt::math::TPoint2D &point, bool is_DMV)
 The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V. More...
 
void insertObservation_KF (double normReading, const mrpt::math::TPoint2D &point)
 The implementation of "insertObservation" for the (whole) Kalman Filter map model. More...
 
void insertObservation_KF2 (double normReading, const mrpt::math::TPoint2D &point)
 The implementation of "insertObservation" for the Efficient Kalman Filter map model. More...
 
void insertObservation_GMRF (double normReading, const mrpt::math::TPoint2D &point, const bool update_map, const bool time_invariant, const double reading_information)
 The implementation of "insertObservation" for the Gaussian Markov Random Field map model. More...
 
void updateMapEstimation_GMRF ()
 solves the minimum quadratic system to determine the new concentration of each cell More...
 
double computeConfidenceCellValue_DM_DMV (const TRandomFieldCell *cell) const
 Computes the confidence of the cell concentration (alpha) More...
 
double computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const
 Computes the average cell concentration, or the overall average value if it has never been observed. More...
 
double computeVarCellValue_DM_DMV (const TRandomFieldCell *cell) const
 Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed. More...
 
void recoverMeanAndCov () const
 In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values. More...
 
bool exist_relation_between2cells (const mrpt::maps::COccupancyGridMap2D *m_Ocgridmap, size_t cxo_min, size_t cxo_max, size_t cyo_min, size_t cyo_max, const size_t seed_cxo, const size_t seed_cyo, const size_t objective_cxo, const size_t objective_cyo)
 Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap. More...
 
void publishEvent (const mrptEvent &e) const
 Called when you want this object to emit an event to all the observers currently subscribed to this object. More...
 
bool hasSubscribers () const
 Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. More...
 
std::vector< TRandomFieldCell > & m_map_castaway_const () const
 Used only from logically const method that really need to modify the object. More...
 
void dyngridcommon_writeToStream (mrpt::utils::CStream &out) const
 
void dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Protected Attributes

bool m_rfgm_run_update_upon_clear
 
TInsertionOptionsCommonm_insertOptions_common
 Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class. More...
 
TMapRepresentation m_mapType
 The map representation type of this map, as passed in the constructor. More...
 
mrpt::math::CMatrixD m_cov
 The whole covariance matrix, used for the Kalman Filter map representation. More...
 
mrpt::math::CMatrixD m_stackedCov
 The compressed band diagonal matrix for the KF2 implementation. More...
 
bool m_hasToRecoverMeanAndCov
 Only for the KF2 implementation. More...
 
ConnectivityDescriptorPtr m_gmrf_connectivity
 Empty: default. More...
 
mrpt::graphs::ScalarFactorGraph m_gmrf
 
std::vector< std::list
< TObservationGMRF > > 
m_mrf_factors_activeObs
 Vector with the active observations and their respective Information. More...
 
std::deque< TPriorFactorGMRFm_mrf_factors_priors
 Vector with the precomputed priors for each GMRF model. More...
 
std::vector< TRandomFieldCellm_map
 The cells. More...
 
double m_x_min
 
double m_x_max
 
double m_y_min
 
double m_y_max
 
double m_resolution
 
size_t m_size_x
 
size_t m_size_y
 
Auxiliary vars for DM & DM+V methods
float m_DM_lastCutOff
 
std::vector< float > m_DM_gaussWindow
 
double m_average_normreadings_mean
 
double m_average_normreadings_var
 
size_t m_average_normreadings_count
 

RTTI stuff

typedef CHeightGridMap2D_MRFPtr Ptr
 
typedef CHeightGridMap2D_MRFPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CHeightGridMap2D_MRF
 
static mrpt::utils::TRuntimeClassId classCHeightGridMap2D_MRF
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CHeightGridMap2D_MRFPtr Create ()
 

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{

static const size_t m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D_MRF,dem_mrf" ,& mrpt::maps::CHeightGridMap2D_MRF ::MapDefinition,& mrpt::maps::CHeightGridMap2D_MRF ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static
mrpt::maps::TMetricMapInitializer
MapDefinition ()
 Returns default map definition initializer. More...
 
static CHeightGridMap2D_MRFCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

Definition at line 258 of file maps/CRandomFieldGridMap2D.h.

typedef CHeightGridMap2D_MRFPtr mrpt::maps::CHeightGridMap2D_MRF::ConstPtr

Definition at line 37 of file CHeightGridMap2D_MRF.h.

typedef CHeightGridMap2D_MRFPtr mrpt::maps::CHeightGridMap2D_MRF::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file CHeightGridMap2D_MRF.h.

Member Enumeration Documentation

Enumerator
gimNearest 
gimBilinear 

Definition at line 299 of file maps/CRandomFieldGridMap2D.h.

The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.

Enumerator
mrKernelDM 

Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)

mrAchim 

Another alias for "mrKernelDM", for backwards compatibility (see discussion in mrpt::maps::CRandomFieldGridMap2D)

mrKalmanFilter 

"Brute-force" Kalman filter (see discussion in mrpt::maps::CRandomFieldGridMap2D)

mrKalmanApproximate 

(see discussion in mrpt::maps::CRandomFieldGridMap2D)

mrKernelDMV 

Double mean + variance Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)

mrGMRF_SD 

Gaussian Markov Random Field, squared differences prior weights between 4 neighboring cells (see discussion in mrpt::maps::CRandomFieldGridMap2D)

Definition at line 138 of file maps/CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

CHeightGridMap2D_MRF::CHeightGridMap2D_MRF ( TMapRepresentation  mapType = mrGMRF_SD,
double  x_min = -2,
double  x_max = 2,
double  y_min = -2,
double  y_max = 2,
double  resolution = 0.5,
bool  run_first_map_estimation_now = true 
)

Constructor.

Parameters
[in]run_first_map_estimation_nowWhether to call updateMapEstimation(). If false, make sure of calling that function before accessing map contents.

Definition at line 77 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::CMetricMap::clear().

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D_MRF::_GetBaseClass ( )
staticprotected
virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )
inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 232 of file maps/CMetricMap.h.

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation obs) const
virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters
obsThe observation.
See Also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 189 of file CMetricMap.cpp.

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  obs) const
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf) const
inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters
sfThe observations.
See Also
canComputeObservationLikelihood

Definition at line 94 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

float mrpt::maps::CRandomFieldGridMap2D::cell2float ( const TRandomFieldCell c) const
inlineinherited

Definition at line 131 of file maps/CRandomFieldGridMap2D.h.

virtual float mrpt::utils::CDynamicGrid< TRandomFieldCell >::cell2float ( const TRandomFieldCell &  c) const
inlinevirtualinherited

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 274 of file CDynamicGrid.h.

References MRPT_UNUSED_PARAM.

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
)
inlineinherited
const TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex ( unsigned int  cx,
unsigned int  cy 
) const
inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 212 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos ( double  x,
double  y 
)
inlineinherited
const TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos ( double  x,
double  y 
) const
inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 192 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

void mrpt::maps::CRandomFieldGridMap2D::clear ( )
inlineinherited

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

Definition at line 128 of file maps/CRandomFieldGridMap2D.h.

References mrpt::maps::CMetricMap::clear().

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

float CRandomFieldGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
const TMatchingRatioParams params 
) const
virtualinherited

See docs in base class: in this class this always returns 0.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 2316 of file CRandomFieldGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

double CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV ( const TRandomFieldCell cell) const
protectedinherited
double CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell cell) const
protectedinherited
double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See Also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 196 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 86 of file CMetricMap.cpp.

double CMetricMap::computeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf,
const mrpt::poses::CPose2D takenFrom 
)
inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See Also
canComputeObservationsLikelihood

Definition at line 75 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

double CRandomFieldGridMap2D::computeVarCellValue_DM_DMV ( const TRandomFieldCell cell) const
protectedinherited
static CHeightGridMap2D_MRFPtr mrpt::maps::CHeightGridMap2D_MRF::Create ( )
static
mrpt::maps::CHeightGridMap2D_MRF * mrpt::maps::CHeightGridMap2D_MRF::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 24 of file CHeightGridMap2D_MRF.cpp.

static mrpt::utils::CObject* mrpt::maps::CHeightGridMap2D_MRF::CreateObject ( )
static
double CHeightGridMap2D_MRF::dem_get_resolution ( ) const
virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 99 of file CHeightGridMap2D_MRF.cpp.

size_t CHeightGridMap2D_MRF::dem_get_size_x ( ) const
virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 102 of file CHeightGridMap2D_MRF.cpp.

size_t CHeightGridMap2D_MRF::dem_get_size_y ( ) const
virtual

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 105 of file CHeightGridMap2D_MRF.cpp.

bool CHeightGridMap2D_MRF::dem_get_z ( const double  x,
const double  y,
double &  z_out 
) const
virtual

Get cell 'z' (x,y) by metric coordinates.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 115 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::TRandomFieldCell::kf_mean.

bool CHeightGridMap2D_MRF::dem_get_z_by_cell ( const size_t  cx,
const size_t  cy,
double &  z_out 
) const
virtual

Get cell 'z' by (cx,cy) cell indices.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 108 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::TRandomFieldCell::kf_mean.

bool CHeightGridMap2D_Base::dem_internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited
void CHeightGridMap2D_MRF::dem_update_map ( )
virtual

Ensure that all observations are reflected in the map estimate.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 122 of file CHeightGridMap2D_MRF.cpp.

void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose2D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

  • The set of points pairs in each map
  • The mean squared distance between corresponding pairs.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See Also
compute3DMatchingRatio

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 132 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.
Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See Also
compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 150 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

virtual mrpt::utils::CObject* mrpt::maps::CHeightGridMap2D_MRF::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream ( mrpt::utils::CStream in,
bool  cast_from_float = false 
)
inlineprotectedinherited
void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream ( mrpt::utils::CStream out) const
inlineprotectedinherited
void mrpt::maps::CRandomFieldGridMap2D::enableProfiler ( bool  enable = true)
inlineinherited
void mrpt::maps::CRandomFieldGridMap2D::enableVerbose ( bool  enable_verbose)
inlineinherited

Definition at line 325 of file maps/CRandomFieldGridMap2D.h.

bool CRandomFieldGridMap2D::exist_relation_between2cells ( const mrpt::maps::COccupancyGridMap2D m_Ocgridmap,
size_t  cxo_min,
size_t  cxo_max,
size_t  cyo_min,
size_t  cyo_max,
const size_t  seed_cxo,
const size_t  seed_cyo,
const size_t  objective_cxo,
const size_t  objective_cyo 
)
protectedinherited

Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap.

Definition at line 2217 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), int(), and min.

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::fill ( const TRandomFieldCell &  value)
inlineinherited

Fills all the cells with the same value.

Definition at line 101 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

void CHeightGridMap2D_MRF::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
virtual

Returns a 3D object representing the map.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 306 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

void CHeightGridMap2D_MRF::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  meanObj,
mrpt::opengl::CSetOfObjectsPtr &  varObj 
) const
virtual

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

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 317 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

void CRandomFieldGridMap2D::getAsBitmapFile ( mrpt::utils::CImage out_img) const
virtualinherited

Returns an image just as described in saveAsBitmapFile.

Definition at line 714 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), MRPT_END, MRPT_START, and mrpt::utils::CImage::setFromMatrix().

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile().

void mrpt::maps::CRandomFieldGridMap2D::getAsMatlab3DGraphScript ( std::string out_script) const
inherited

Return a large text block with a MATLAB script to plot the contents of this map.

See Also
saveAsMatlab3DGraph This method can only be called in a KF map model
void CRandomFieldGridMap2D::getAsMatrix ( mrpt::math::CMatrixDouble out_mat) const
virtualinherited
void mrpt::utils::CDynamicGrid< TRandomFieldCell >::getAsMatrix ( MAT &  m) const
inlineinherited

Get the entire grid as a matrix.

Template Parameters
MATThe type of the matrix, typically a mrpt::math::CMatrixDouble.
Parameters
[out]mThe output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).
Note
This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 263 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const
inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 240 of file maps/CMetricMap.h.

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

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlinevirtualinherited
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::maps::CHeightGridMap2D_MRF::getCommonInsertOptions ( )
inlinevirtual

Get the part of the options common to all CRandomFieldGridMap2D classes.

Implements mrpt::maps::CRandomFieldGridMap2D.

Definition at line 73 of file CHeightGridMap2D_MRF.h.

CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )
inherited

Return the type of the random-field grid map, according to parameters passed on construction.

Definition at line 2091 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType.

void CRandomFieldGridMap2D::getMeanAndCov ( mrpt::math::CVectorDouble out_means,
mrpt::math::CMatrixDouble out_cov 
) const
inherited

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2041 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

void CRandomFieldGridMap2D::getMeanAndSTD ( mrpt::math::CVectorDouble out_means,
mrpt::math::CVectorDouble out_STD 
) const
inherited

Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2057 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and mrpt::maps::CRandomFieldGridMap2D::m_stackedCov.

bool CHeightGridMap2D_Base::getMinMaxHeight ( float &  z_min,
float &  z_max 
) const
inherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getResolution ( ) const
inlineinherited
virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D_MRF::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeX ( ) const
inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 220 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::getSizeY ( ) const
inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 223 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_y.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMax ( ) const
inlineinherited

Returns the "x" coordinate of right side of grid map.

Definition at line 229 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_max.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getXMin ( ) const
inlineinherited

Returns the "x" coordinate of left side of grid map.

Definition at line 226 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMax ( ) const
inlineinherited

Returns the "y" coordinate of bottom side of grid map.

Definition at line 235 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_max.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getYMin ( ) const
inlineinherited

Returns the "y" coordinate of top side of grid map.

Definition at line 232 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

bool mrpt::utils::CObservable::hasSubscribers ( ) const
inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 52 of file CObservable.h.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2cxcy ( const int idx,
int cx,
int cy 
) const
inlineinherited

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 246 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x ( int  cx) const
inlineinherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y ( int  cy) const
inlineinherited
bool CHeightGridMap2D_MRF::insertIndividualPoint ( const double  x,
const double  y,
const double  z,
const CHeightGridMap2D_Base::TPointInsertParams params = CHeightGridMap2D_Base::TPointInsertParams() 
)
virtual

Update the DEM with one new point.

See Also
mrpt::maps::CMetricMap::insertObservation() for inserting higher-level objects like 2D/3D LIDAR scans
Returns
true if updated OK, false if (x,y) is out of bounds

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 92 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams::pt_z_std, and mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams::update_map_after_insertion.

void CRandomFieldGridMap2D::insertIndividualReading ( const double  sensorReading,
const mrpt::math::TPoint2D point,
const bool  update_map = true,
const bool  time_invariant = true,
const double  reading_stddev = .0 
)
inherited

Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor.

This is a direct way to update the map, an alternative to the generic insertObservation() method which works with mrpt::obs::CObservation objects.

Parameters
sensorReadingThe value observed in the (x,y) position
pointThe (x,y) location
update_mapRun a global map update after inserting this observatin (algorithm-dependant)
time_invariantWhether the observation "vanishes" with time (false) or not (true) [Only for GMRF methods]
reading_stddevThe uncertainty (standard deviation) of the reading. Default="0.0" means use the default settings per map-wide parameters.

Definition at line 2115 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs, mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::mrpt::math::square(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.
See Also
CObservation::insertObservationInto

Definition at line 102 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

void CRandomFieldGridMap2D::insertObservation_GMRF ( double  normReading,
const mrpt::math::TPoint2D point,
const bool  update_map,
const bool  time_invariant,
const double  reading_information 
)
protectedinherited
void CRandomFieldGridMap2D::insertObservation_KernelDM_DMV ( double  normReading,
const mrpt::math::TPoint2D point,
bool  is_DMV 
)
protectedinherited

The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.

Parameters
normReadingIs a [0,1] normalized concentration reading.
pointIs the sensor location on the map
is_DMV= false -> map type is Kernel DM; true -> map type is DM+V
normReadingIs a [0,1] normalized concentration reading.
is_DMV= false -> map type is Kernel DM; true -> map type is DM+V

Definition at line 480 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::TRandomFieldCell::dm_mean, mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::TRandomFieldCell::dmv_var_mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::utils::round(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

void CRandomFieldGridMap2D::insertObservation_KF ( double  normReading,
const mrpt::math::TPoint2D point 
)
protectedinherited
void CRandomFieldGridMap2D::insertObservation_KF2 ( double  normReading,
const mrpt::math::TPoint2D point 
)
protectedinherited

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters
normReadingIs a [0,1] normalized concentration reading.
pointIs the sensor location on the map

Definition at line 1818 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, min, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::square(), mrpt::utils::CTicTac::Tac(), THROW_EXCEPTION_FMT, mrpt::utils::CTicTac::Tic(), mrpt::math::TPoint2D::x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx(), mrpt::math::TPoint2D::y, and mrpt::utils::CDynamicGrid< TRandomFieldCell >::y2idx().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservationPtr &  obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 118 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

void CHeightGridMap2D_MRF::internal_clear ( )
virtual

Erase all the contents of the map.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 126 of file CHeightGridMap2D_MRF.cpp.

References mrpt::maps::CRandomFieldGridMap2D::internal_clear().

double CHeightGridMap2D_MRF::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
virtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 142 of file CHeightGridMap2D_MRF.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

mrpt::maps::CMetricMap * CHeightGridMap2D_MRF::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static
bool CHeightGridMap2D_MRF::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
virtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 134 of file CHeightGridMap2D_MRF.cpp.

bool CHeightGridMap2D_Base::intersectLine3D ( const mrpt::math::TLine3D r1,
mrpt::math::TObject3D obj 
) const
inherited
bool CRandomFieldGridMap2D::isEmpty ( ) const
virtualinherited

Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes)

Implements mrpt::maps::CMetricMap.

Definition at line 467 of file CRandomFieldGridMap2D.cpp.

bool mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose ( ) const
inlineinherited

Definition at line 326 of file maps/CRandomFieldGridMap2D.h.

bool mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled ( ) const
inlineinherited
void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap Map)
inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 48 of file CMetricMap.cpp.

References mrpt::utils::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by run_test_pf_localization().

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap Map)
inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 105 of file maps/CMetricMap.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

std::vector<TRandomFieldCell >& mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map_castaway_const ( ) const
inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

Referenced by mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

mrpt::maps::TMetricMapInitializer * mrpt::maps::CHeightGridMap2D_MRF::MapDefinition ( )
static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

Definition at line 24 of file CHeightGridMap2D_MRF.cpp.

void mrpt::maps::CHeightGridMap2D_MRF::operator delete ( void ptr)
throw (
)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void mrpt::maps::CHeightGridMap2D_MRF::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void mrpt::maps::CHeightGridMap2D_MRF::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void mrpt::maps::CHeightGridMap2D_MRF::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void* mrpt::maps::CHeightGridMap2D_MRF::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void* mrpt::maps::CHeightGridMap2D_MRF::operator new ( size_t  size)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

static void* mrpt::maps::CHeightGridMap2D_MRF::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void* mrpt::maps::CHeightGridMap2D_MRF::operator new[] ( size_t  size)
inline

Definition at line 37 of file CHeightGridMap2D_MRF.h.

void CRandomFieldGridMap2D::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 
)
virtualinherited

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

Parameters
xQuery X coordinate
yQuery Y coordinate
out_predict_responseThe output value
out_predict_response_varianceThe output variance
do_sensor_normalizationWhether to renormalize the prediction to a predefined interval (R values in insertionOptions)
interp_methodInterpolation method

Definition at line 1683 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), TInterpQuery::cx, TInterpQuery::cy, mrpt::maps::CRandomFieldGridMap2D::gimBilinear, mrpt::maps::CRandomFieldGridMap2D::gimNearest, mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::math::square(), THROW_EXCEPTION, TInterpQuery::val, TInterpQuery::var, mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx(), and mrpt::utils::CDynamicGrid< TRandomFieldCell >::y2idx().

void CObservable::publishEvent ( const mrptEvent e) const
protectedinherited
void CHeightGridMap2D_MRF::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 205 of file CHeightGridMap2D_MRF.cpp.

References ASSERT_EQUAL_, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::utils::CStream::ReadBuffer().

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const
protectedinherited
virtual void mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize ( double  new_x_min,
double  new_x_max,
double  new_y_min,
double  new_y_max,
const TRandomFieldCell &  defaultValueNewCells,
double  additionalMarginMeters = 2.0 
)
inlinevirtualinherited
void CRandomFieldGridMap2D::resize ( double  new_x_min,
double  new_x_max,
double  new_y_min,
double  new_y_max,
const TRandomFieldCell defaultValueNewCells,
double  additionalMarginMeters = 1.0f 
)
virtualinherited
void CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string filName) const
virtualinherited

Save the current map as a graphical file (BMP,PNG,...).

The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $ \sum{\frac{wR}{w}} $ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell.

See Also
getAsBitmapFile()

Definition at line 660 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile(), MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

void CRandomFieldGridMap2D::saveAsMatlab3DGraph ( const std::string filName) const
virtualinherited

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

This method can only be called in a KF map model.

See Also
getAsMatlab3DGraphScript

Definition at line 1235 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::mrpt::utils::saturate_val(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

void CRandomFieldGridMap2D::saveMetricMapRepresentationToFile ( const std::string filNamePrefix) const
virtualinherited

The implementation in this class just calls all the corresponding method of the contained metric maps.

Implements mrpt::maps::CMetricMap.

Definition at line 1112 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::TRandomFieldCell::gmrf_mean, mrpt::maps::TRandomFieldCell::gmrf_std, mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::math::MATRIX_FORMAT_FIXED, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::utils::CImage::saveToFile(), and THROW_EXCEPTION.

bool mrpt::utils::CDynamicGrid< TRandomFieldCell >::saveToTextFile ( const std::string fileName) const
inlineinherited

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns
false on error

Definition at line 280 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

void CRandomFieldGridMap2D::setCellsConnectivity ( const ConnectivityDescriptorPtr new_connectivity_descriptor)
inherited

Sets a custom object to define the connectivity between cells.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 77 of file CRandomFieldGridMap2D.cpp.

void CRandomFieldGridMap2D::setMeanAndSTD ( mrpt::math::CVectorDouble out_means,
mrpt::math::CVectorDouble out_STD 
)
inherited
void mrpt::utils::CDynamicGrid< TRandomFieldCell >::setSize ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  resolution,
const TRandomFieldCell *  fill_value = NULL 
)
inlineinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See Also
resize, fill

Definition at line 69 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, mrpt::utils::CDynamicGrid< T >::m_y_min, and mrpt::utils::round().

void CRandomFieldGridMap2D::setSize ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  resolution,
const TRandomFieldCell fill_value = NULL 
)
virtualinherited

Changes the size of the grid, erasing previous contents.

Parameters
[in]connectivity_descriptorOptional user-supplied object that will visit all grid cells to define their connectivity with neighbors and the strength of existing edges. If present, it overrides all options in insertionOptions
See Also
resize
resize

Definition at line 71 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), and setSize().

float CMetricMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 178 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

void CRandomFieldGridMap2D::updateMapEstimation ( )
inherited
void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )
protectedinherited
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CHeightGridMap2D_MRF::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 153 of file CHeightGridMap2D_MRF.cpp.

References mrpt::utils::CStream::WriteBuffer().

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx ( double  x) const
inlineinherited
int mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx ( double  x,
double  y 
) const
inlineinherited
int mrpt::utils::CDynamicGrid< TRandomFieldCell >::y2idx ( double  y) const
inlineinherited

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::maps::CHeightGridMap2D_MRF::_init_CHeightGridMap2D_MRF
staticprotected

Definition at line 37 of file CHeightGridMap2D_MRF.h.

mrpt::utils::TRuntimeClassId mrpt::maps::CHeightGridMap2D_MRF::classCHeightGridMap2D_MRF
static

Definition at line 37 of file CHeightGridMap2D_MRF.h.

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap
staticinherited

Definition at line 57 of file maps/CMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::maps::CRandomFieldGridMap2D::classCRandomFieldGridMap2D
staticinherited

Definition at line 122 of file maps/CRandomFieldGridMap2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::maps::CHeightGridMap2D_MRF::classinfo
static

Definition at line 37 of file CHeightGridMap2D_MRF.h.

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions mrpt::maps::CHeightGridMap2D_MRF::insertionOptions
size_t mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count
protectedinherited
double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean
protectedinherited
double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var
protectedinherited
mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_cov
protectedinherited
std::vector<float> mrpt::maps::CRandomFieldGridMap2D::m_DM_gaussWindow
protectedinherited

Definition at line 354 of file maps/CRandomFieldGridMap2D.h.

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff
protectedinherited

Definition at line 353 of file maps/CRandomFieldGridMap2D.h.

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap2D::m_gmrf
protectedinherited
ConnectivityDescriptorPtr mrpt::maps::CRandomFieldGridMap2D::m_gmrf_connectivity
protectedinherited

Empty: default.

Definition at line 359 of file maps/CRandomFieldGridMap2D.h.

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov
mutableprotectedinherited
TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common
protectedinherited
std::vector<TRandomFieldCell > mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map
protectedinherited
TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType
protectedinherited
std::vector<std::list<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs
protectedinherited

Vector with the active observations and their respective Information.

Definition at line 392 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_priors
protectedinherited

Vector with the precomputed priors for each GMRF model.

Definition at line 393 of file maps/CRandomFieldGridMap2D.h.

const size_t mrpt::maps::CHeightGridMap2D_MRF::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D_MRF,dem_mrf" ,& mrpt::maps::CHeightGridMap2D_MRF ::MapDefinition,& mrpt::maps::CHeightGridMap2D_MRF ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 87 of file CHeightGridMap2D_MRF.h.

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution
protectedinherited
bool mrpt::maps::CRandomFieldGridMap2D::m_rfgm_run_update_upon_clear
protectedinherited

Definition at line 332 of file maps/CRandomFieldGridMap2D.h.

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x
protectedinherited
size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y
protectedinherited
mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_stackedCov
protectedinherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_max
protectedinherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min
protectedinherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_max
protectedinherited
double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min
protectedinherited



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