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mrpt::maps::CRandomFieldGridMap2D Class Referenceabstract

Detailed Description

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

There are a number of methods available to build the MRF grid-map, depending on the value of TMapRepresentation maptype passed in the constructor.

The following papers describe the mapping alternatives implemented here:

Note that this class is virtual, since derived classes still have to implement:

[GMRF only] A custom connectivity pattern between cells can be defined by calling setCellsConnectivity().

See Also
mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

Definition at line 114 of file maps/CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D:
Inheritance graph

Classes

struct  ConnectivityDescriptor
 Base class for user-supplied objects capable of describing cells connectivity, used to build prior factors of the MRF graph. More...
 
struct  TInsertionOptionsCommon
 Parameters common to any derived class. More...
 
struct  TObservationGMRF
 
struct  TPriorFactorGMRF
 

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

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
 
 CRandomFieldGridMap2D (TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
 Constructor. More...
 
virtual ~CRandomFieldGridMap2D ()
 Destructor. 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...
 
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 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 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...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
 Returns a 3D object representing the map (mean) More...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const
 Returns two 3D objects representing the mean and variance maps. 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...
 
virtual CObjectduplicate () const =0
 Returns a copy of the object, indepently of its 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 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 fill (const TRandomFieldCell &value)
 Fills all the cells with the same value. 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...
 
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
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
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...
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 

Public Attributes

TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Static Public Attributes

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

Protected Member Functions

virtual
CRandomFieldGridMap2D::TInsertionOptionsCommon
getCommonInsertOptions ()=0
 Get the part of the options common to all CRandomFieldGridMap2D classes. More...
 
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...
 
virtual void internal_clear () MRPT_OVERRIDE
 Erase all the contents of the map. 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...
 
virtual void writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
virtual void readFromStream (mrpt::utils::CStream &in, int version)=0
 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...
 
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)
 

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
 

Private Types

typedef utils::CDynamicGrid
< TRandomFieldCell
BASE
 

RTTI stuff

typedef CRandomFieldGridMap2DPtr Ptr
 
typedef CRandomFieldGridMap2DPtr ConstPtr
 
static const
mrpt::utils::TRuntimeClassId 
classCRandomFieldGridMap2D
 
class mrpt::utils::CStream
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 

Member Typedef Documentation

Definition at line 119 of file maps/CRandomFieldGridMap2D.h.

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

typedef CRandomFieldGridMap2DPtr mrpt::maps::CRandomFieldGridMap2D::ConstPtr

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

typedef CRandomFieldGridMap2DPtr mrpt::maps::CRandomFieldGridMap2D::Ptr

Definition at line 122 of file maps/CRandomFieldGridMap2D.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

CRandomFieldGridMap2D::CRandomFieldGridMap2D ( TMapRepresentation  mapType = mrKernelDM,
double  x_min = -2,
double  x_max = 2,
double  y_min = -2,
double  y_max = 2,
double  resolution = 0.1 
)

Constructor.

Definition at line 42 of file CRandomFieldGridMap2D.cpp.

CRandomFieldGridMap2D::~CRandomFieldGridMap2D ( )
virtual

Destructor.

Definition at line 66 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap2D::_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
inline

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

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 203 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.

Referenced by getAs3DObject(), getAsMatrix(), predictMeasurement(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

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

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

Definition at line 183 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().

Referenced by insertObservation_GMRF(), insertObservation_KF(), and insertObservation_KF2().

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 ( )
inline

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
virtual

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
protected
double CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell cell) const
protected
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
protected
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 CObject* mrpt::utils::CObject::duplicate ( ) const
pure virtualinherited

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

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::gui::CDisplayWindow3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::gui::CDisplayWindowPlots, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::obs::CActionCollection::CActionCollection(), mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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)
inline
void mrpt::maps::CRandomFieldGridMap2D::enableVerbose ( bool  enable_verbose)
inline

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 
)
protected

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 CRandomFieldGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  outObj) const
virtual
void CRandomFieldGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &  meanObj,
mrpt::opengl::CSetOfObjectsPtr &  varObj 
) const
virtual

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

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

Definition at line 1378 of file CRandomFieldGridMap2D.cpp.

References mrpt::opengl::CSetOfTriangles::TTriangle::a, ASSERT_, mrpt::opengl::CSetOfTriangles::TTriangle::b, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex(), computeMeanCellValue_DM_DMV(), computeVarCellValue_DM_DMV(), mrpt::opengl::CSetOfTriangles::Create(), mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::opengl::CSetOfTriangles::TTriangle::g, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::utils::jet2rgb(), mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, m_insertOptions_common, 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_min, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min, min, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, mrKernelDMV, mrpt::opengl::CSetOfTriangles::TTriangle::r, recoverMeanAndCov(), mrpt::mrpt::utils::saturate_val(), mrpt::math::square(), mrpt::opengl::CSetOfTriangles::TTriangle::x, mrpt::opengl::CSetOfTriangles::TTriangle::y, and mrpt::opengl::CSetOfTriangles::TTriangle::z.

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

Returns an image just as described in saveAsBitmapFile.

Definition at line 714 of file CRandomFieldGridMap2D.cpp.

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

Referenced by saveAsBitmapFile().

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

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
virtual
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::CRandomFieldGridMap2D::getCommonInsertOptions ( )
protectedpure virtual
CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )

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

Definition at line 2091 of file CRandomFieldGridMap2D.cpp.

References m_mapType.

void CRandomFieldGridMap2D::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).

Definition at line 2041 of file CRandomFieldGridMap2D.cpp.

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

void CRandomFieldGridMap2D::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).

Definition at line 2057 of file CRandomFieldGridMap2D.cpp.

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

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::getResolution ( ) const
inlineinherited
virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap2D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

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

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2x ( int  cx) const
inlineinherited

Transform a cell index into a coordinate value of the cell central point.

Definition at line 253 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by predictMeasurement(), and saveMetricMapRepresentationToFile().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2y ( int  cy) const
inlineinherited
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 
)

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, insertObservation_GMRF(), insertObservation_KernelDM_DMV(), insertObservation_KF(), insertObservation_KF2(), m_insertOptions_common, m_mapType, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, 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 
)
protected
void CRandomFieldGridMap2D::insertObservation_KernelDM_DMV ( double  normReading,
const mrpt::math::TPoint2D point,
bool  is_DMV 
)
protected

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 insertIndividualReading().

void CRandomFieldGridMap2D::insertObservation_KF ( double  normReading,
const mrpt::math::TPoint2D point 
)
protected
void CRandomFieldGridMap2D::insertObservation_KF2 ( double  normReading,
const mrpt::math::TPoint2D point 
)
protected
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 CRandomFieldGridMap2D::internal_clear ( )
protectedvirtual

Erase all the contents of the map.

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

Definition at line 85 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::CSimpleMap::empty(), fill(), mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::CRandomFieldGridMap2D::ConnectivityDescriptor::getEdgeInformation(), mrpt::maps::COccupancyGridMap2D::getResolution(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), mrpt::maps::COccupancyGridMap2D::getXMax(), mrpt::maps::COccupancyGridMap2D::getXMin(), mrpt::maps::COccupancyGridMap2D::getYMax(), mrpt::maps::COccupancyGridMap2D::getYMin(), mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda, mrpt::maps::CRandomFieldGridMap2D::TPriorFactorGMRF::Lambda, mrpt::maps::COccupancyGridMap2D::loadFromBitmapFile(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::system::os::memcpy(), min, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_DEBUG_STREAM, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue, mrpt::maps::COccupancyGridMap2D::saveAsBitmapFile(), mrpt::math::square(), mrpt::utils::CTicTac::Tac(), THROW_EXCEPTION, mrpt::utils::CTicTac::Tic(), and mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_clear(), mrpt::maps::CHeightGridMap2D_MRF::internal_clear(), and mrpt::maps::CGasConcentrationGridMap2D::internal_clear().

bool CRandomFieldGridMap2D::isEmpty ( ) const
virtual

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
inline

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

bool mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled ( ) const
inline
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 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 recoverMeanAndCov().

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 
)
virtual

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(), computeMeanCellValue_DM_DMV(), computeVarCellValue_DM_DMV(), TInterpQuery::cx, TInterpQuery::cy, gimBilinear, 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, m_average_normreadings_mean, m_hasToRecoverMeanAndCov, m_insertOptions_common, 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, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, 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
virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedpure virtualinherited

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

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::utils::CStream::internal_ReadObject().

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const
protected
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 
)
virtual
void CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string filName) const
virtual

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 getAsBitmapFile(), MRPT_END, and MRPT_START.

Referenced by saveMetricMapRepresentationToFile().

void CRandomFieldGridMap2D::saveAsMatlab3DGraph ( const std::string filName) const
virtual
void CRandomFieldGridMap2D::saveMetricMapRepresentationToFile ( const std::string filNamePrefix) const
virtual
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)

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 
)

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

Definition at line 2074 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, m_stackedCov, recoverMeanAndCov(), and mrpt::math::square().

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 
)
virtual

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 ( )

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations.

Definition at line 2096 of file CRandomFieldGridMap2D.cpp.

References m_mapType, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, mrKernelDMV, THROW_EXCEPTION, and updateMapEstimation_GMRF().

void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )
protected
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.

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedpure virtualinherited

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

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::utils::CStream::WriteObject().

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx ( double  x) const
inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 241 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by insertObservation_KF2(), and predictMeasurement().

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

Friends And Related Function Documentation

friend class mrpt::utils::CStream
friend

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

Member Data Documentation

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
static

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.

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

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

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff
protected

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

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

Empty: default.

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

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov
mutableprotected
TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common
protected

Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class.

Definition at line 335 of file maps/CRandomFieldGridMap2D.h.

Referenced by computeConfidenceCellValue_DM_DMV(), computeMeanCellValue_DM_DMV(), computeVarCellValue_DM_DMV(), getAs3DObject(), getAsMatrix(), insertIndividualReading(), insertObservation_KF(), insertObservation_KF2(), predictMeasurement(), resize(), saveAsMatlab3DGraph(), and updateMapEstimation_GMRF().

std::vector<TRandomFieldCell > mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map
protectedinherited
TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType
protected
std::vector<std::list<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs
protected

Vector with the active observations and their respective Information.

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

Referenced by insertObservation_GMRF(), and updateMapEstimation_GMRF().

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

Vector with the precomputed priors for each GMRF model.

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

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

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
protected

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 348 of file maps/CRandomFieldGridMap2D.h.

Referenced by getMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::increaseUncertainty(), insertObservation_KF2(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), recoverMeanAndCov(), resize(), saveMetricMapRepresentationToFile(), setMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

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

Definition at line 47 of file CDynamicGrid.h.

Referenced by saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

double mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min
protectedinherited



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