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CWirelessPowerGridMap2D.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #ifndef CWirelessPowerGridMap2D_H
11 #define CWirelessPowerGridMap2D_H
12 
15 
16 namespace mrpt
17 {
18 namespace maps
19 {
20 /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D
21  * area.
22  *
23  * There are a number of methods available to build the wifi grid-map,
24  * depending on the value of
25  * "TMapRepresentation maptype" passed in the constructor (see
26  * CRandomFieldGridMap2D for a discussion).
27  *
28  * Update the map with insertIndividualReading() or insertObservation()
29  *
30  * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
31  * mrpt::containers::CDynamicGrid, The application icp-slam,
32  * mrpt::maps::CMultiMetricMap
33  * \ingroup mrpt_maps_grp
34  */
36 {
38  public:
39  /** Constructor */
41  TMapRepresentation mapType = mrKernelDM, double x_min = -2,
42  double x_max = 2, double y_min = -2, double y_max = 2,
43  double resolution = 0.1);
44 
45  /** Destructor */
46  virtual ~CWirelessPowerGridMap2D();
47 
48  /** Parameters related with inserting observations into the map:
49  */
52  {
53  /** Default values loader */
55 
56  void loadFromConfigFile(
58  const std::string& section) override; // See base docs
59  void dumpToTextStream(
60  std::ostream& out) const override; // See base docs
61 
63 
64  /** Returns a 3D object representing the map */
65  void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;
66 
67  protected:
68  /** Get the part of the options common to all CRandomFieldGridMap2D classes
69  */
72  {
73  return &insertionOptions;
74  }
75 
76  // See docs in derived class
77  void internal_clear() override;
79  const mrpt::obs::CObservation* obs,
80  const mrpt::poses::CPose3D* robotPose = nullptr) override;
82  const mrpt::obs::CObservation* obs,
83  const mrpt::poses::CPose3D& takenFrom) override;
84 
86  /** See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D */
87  double min_x, max_x, min_y, max_y, resolution;
88  /** The kind of map representation (see
89  * CWirelessPowerGridMap2D::CWirelessPowerGridMap2D) */
93 };
94 
95 } // End of namespace
96 } // End of namespace
97 
98 #endif
Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D) ...
CWirelessPowerGridMap2D(TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOptions
Parameters related with inserting observations into the map:
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
bool internal_insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
This class allows loading and storing values and vectors of different types from a configuration text...
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() override
Get the part of the options common to all CRandomFieldGridMap2D classes.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
GLsizei const GLchar ** string
Definition: glext.h:4101
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot's observation.
Definition: CObservation.h:43
GLsizei GLsizei GLchar * source
Definition: glext.h:4082
#define MAP_DEFINITION_END(_CLASS_NAME_)
double internal_computeObservationLikelihood(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
void internal_clear() override
Erase all the contents of the map.



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