Detailed Description

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

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

See also:: mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D:

[legend]

List of all members.

Classes
struct	TdataMap
	The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (insertionOptions.useMOSmodel =1) More...
struct	TInsertionOptions
	Parameters related with inserting observations into the map: More...
Public Types
enum	TMapRepresentation { mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKernelDMV }
	The type of map representation to be used. More...
Public Member Functions
	CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor.
virtual	~CGasConcentrationGridMap2D ()
	Destructor.
virtual double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
virtual void	getAsBitmapFile (mrpt::utils::CImage &out_img) const
	Returns an image just as described in saveAsBitmapFile.
virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	The implementation in this class just calls all the corresponding method of the contained metric maps.
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.
virtual void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map.
void	clear ()
	Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.
float	cell2float (const TRandomFieldCell &c) const
virtual float	cell2float (const T &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.
virtual bool	isEmpty () const
	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)
virtual void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,...).
virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const TRandomFieldCell &defaultValueNewCells, float additionalMarginMeters=1.0f)
	Changes the size of the grid, maintaining previous contents.
virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)
	Changes the size of the grid, maintaining previous contents.
float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
void	getAsMatlab3DGraphScript (std::string &out_script) const
	Return a large text block with a MATLAB script to plot the contents of this map.
TMapRepresentation	getMapType ()
	Return the type of the random-field grid map, according to parameters passed on construction.
virtual void	predictMeasurement (const double &x, const double &y, double &out_predict_response, double &out_predict_response_variance)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).
void	getMeanAndCov (vector_double &out_means, CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).
void	loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.
void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.
bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version.
double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.
virtual bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.
bool	canComputeObservationsLikelihood (const CSensoryFrame &sf)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
virtual void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 2D points map.
virtual void	computeMatchingWith3D (const CMetricMap otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP.
virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
virtual float	squareDistanceToClosestCorrespondence (const float &x0, const float &y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
virtual const 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.
virtual CSimplePointsMap *	getAsSimplePointsMap ()
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).
CObject *	clone () const
	Cloning interface for smart pointers.
void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution)
	Changes the size of the grid, ERASING all previous contents.
void	fill (const T &value)
	Fills all the cells with the same value.
T *	cellByPos (float x, float y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.
const T *	cellByPos (float x, float y) const
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.
T *	cellByIndex (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.
const T *	cellByIndex (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.
size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count.
size_t	getSizeY () const
	Returns the vertical size of grid map in cells count.
float	getXMin () const
	Returns the "x" coordinate of left side of grid map.
float	getXMax () const
	Returns the "x" coordinate of right side of grid map.
float	getYMin () const
	Returns the "y" coordinate of top side of grid map.
float	getYMax () const
	Returns the "y" coordinate of bottom side of grid map.
float	getResolution () const
	Returns the resolution of the grid map.
void	saveToTextFile (const std::string &fileName) const
int	x2idx (float x) const
	Transform a coordinate values into cell indexes.
int	x2idx (float x, float x_min) const
	Transform a coordinate value into a cell index, using a diferent "x_min" value.
int	y2idx (float y) const
int	y2idx (float y, float y_min) const
int	xy2idx (float x, float 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.
float	idx2x (int cx) const
	Transform a cell index into a coordinate value.
float	idx2y (int cy) const
void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix.
Public Attributes
mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions	insertionOptions
bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects.
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 ()
	Get the part of the options common to all CRandomFieldGridMap2D classes.
void	CGasConcentration_estimation (float reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp timestamp)
	Estimates the gas concentration based on readings and sensor model.
void	noise_filtering (float reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp timestamp)
	Reduce noise by averaging with a mobile window.
void	save_log_map (const mrpt::system::TTimeStamp timestamp, const float reading, const float estimation, const float k, const double yaw, const float speed)
	Save the GAS_MAP generated into a log file for offline representation.
virtual void	internal_clear ()
	Erase all the contents of the map.
virtual bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
void	insertObservation_KernelDM_DMV (float normReading, const CPose3D &sensorPose, bool is_DMV)
	The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.
void	insertObservation_KF (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model.
void	insertObservation_KF2 (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model.
double	computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the average cell concentration, or the overall average value if it has never been observed.
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.
void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
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.
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.
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.
std::vector< T > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object.
Protected Attributes
TdataMap	m_new_Obs
	[useMOSmodel] The last N GasObservations, used for the MOS MODEL estimation.
TdataMap	m_new_ANS
std::vector< TdataMap >	m_lastObservations
std::vector< TdataMap >	m_antiNoise_window
std::ofstream *	m_debug_dump
	[useMOSmodel] Ofstream to save to file option "save_maplog"
uint16_t	decimate_count
	[useMOSmodel] Decimate value for oversampled enose readings
double	fixed_incT
	[useMOSmodel] To force e-nose samples to have fixed time increments
bool	first_incT
TInsertionOptionsCommon *	m_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.
TMapRepresentation	m_mapType
	The map representation type of this map, as passed in the constructor.
CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation.
CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation.
bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation.
std::vector< T >	m_map
	The cells.
float	m_x_min
float	m_x_max
float	m_y_min
float	m_y_max
float	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 CGasConcentrationGridMap2DPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CGasConcentrationGridMap2D
static mrpt::utils::TRuntimeClassId	classCGasConcentrationGridMap2D
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CGasConcentrationGridMap2DPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRandomFieldGridMap2D
class	mrpt::utils::CStream

Member Typedef Documentation

typedef CGasConcentrationGridMap2DPtr mrpt::slam::CGasConcentrationGridMap2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

enum mrpt::slam::CRandomFieldGridMap2D::TMapRepresentation [inherited]

The type of map representation to be used.

Enumerator:

mrKernelDM
mrAchim
mrKalmanFilter
mrKalmanApproximate
mrKernelDMV

Definition at line 133 of file CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D	(	TMapRepresentation	mapType = `mrAchim`,
		float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

virtual mrpt::slam::CGasConcentrationGridMap2D::~CGasConcentrationGridMap2D ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CGasConcentrationGridMap2D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

virtual void mrpt::slam::CMetricMap::auxParticleFilterCleanUp ( ) [inline, virtual, inherited]

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::slam::CLandmarksMap, and mrpt::slam::CMultiMetricMap.

Definition at line 326 of file CMetricMap.h.

virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservation * obs ) [inline, virtual, 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).

Parameters:

obs	The observation.

See also:: computeObservationLikelihood

Reimplemented in mrpt::slam::COccupancyGridMap2D, and mrpt::slam::CMultiMetricMap.

Definition at line 184 of file CMetricMap.h.

bool mrpt::slam::CMetricMap::canComputeObservationsLikelihood ( const CSensoryFrame & sf ) [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).

Parameters:

sf	The observations.

See also:: canComputeObservationLikelihood

float mrpt::slam::CRandomFieldGridMap2D::cell2float ( const TRandomFieldCell & c ) const [inline, inherited]

Definition at line 126 of file CRandomFieldGridMap2D.h.

References mrpt::slam::TRandomFieldCell::kf_mean.

virtual float mrpt::utils::CDynamicGrid::cell2float ( const T & c ) const [inline, virtual, inherited]

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

Definition at line 281 of file CDynamicGrid.h.

T* mrpt::utils::CDynamicGrid::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		`[inline, inherited]`

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 236 of file CDynamicGrid.h.

const T* mrpt::utils::CDynamicGrid::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const `[inline, inherited]`

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 245 of file CDynamicGrid.h.

T* mrpt::utils::CDynamicGrid::cellByPos	(	float	x,
		float	y
	)		`[inline, inherited]`

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 210 of file CDynamicGrid.h.

const T* mrpt::utils::CDynamicGrid::cellByPos	(	float	x,
		float	y
	)		const `[inline, inherited]`

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 223 of file CDynamicGrid.h.

void mrpt::slam::CGasConcentrationGridMap2D::CGasConcentration_estimation	(	float	reading,
		const CPose3D &	sensorPose,
		const mrpt::system::TTimeStamp	timestamp
	)		`[protected]`

Estimates the gas concentration based on readings and sensor model.

void mrpt::slam::CRandomFieldGridMap2D::clear ( void ) [inline, inherited]

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

Reimplemented from mrpt::slam::CMetricMap.

Definition at line 123 of file CRandomFieldGridMap2D.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

float mrpt::slam::CRandomFieldGridMap2D::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	minDistForCorr = `0.10f`,
		float	minMahaDistForCorr = `2.0f`
	)		const `[virtual, inherited]`

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters:

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
minDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
minMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns:: The matching ratio [0,1]

See also:: computeMatchingWith2D

Implements mrpt::slam::CMetricMap.

virtual void mrpt::slam::CMetricMap::computeMatchingWith2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPose2D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `true`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const `[inline, virtual, inherited]`

Computes the matchings between this and another 2D points map.

This includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs. This method is the most time critical one into the ICP algorithm.

Parameters:

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
maxDistForCorrespondence	[IN] Maximum 2D linear distance between two points to be matched.
maxAngularDistForCorrespondence	[IN] In radians: The aim is to allow larger distances to more distant correspondences.
angularDistPivotPoint	[IN] The point used to calculate distances from in both maps.
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.
sumSqrDist	[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
onlyKeepTheClosest	[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.

See also:: compute3DMatchingRatio

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

Definition at line 236 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

virtual void mrpt::slam::CMetricMap::computeMatchingWith3D	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPoint3D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `true`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const `[inline, virtual, inherited]`

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 the ICP algorithm.

Parameters:

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
maxDistForCorrespondence	[IN] Maximum 2D linear distance between two points to be matched.
maxAngularDistForCorrespondence	[IN] In radians: The aim is to allow larger distances to more distant correspondences.
angularDistPivotPoint	[IN] The point used to calculate distances from in both maps.
correspondences	[OUT] The detected matchings pairs.
correspondencesRatio	[OUT] The ratio [0,1] of points in otherMap with at least one correspondence.
sumSqrDist	[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.
onlyKeepTheClosest	[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.

See also:: compute3DMatchingRatio

Reimplemented in mrpt::slam::CPointsMap.

Definition at line 272 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

double mrpt::slam::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell * cell ) const [protected, inherited]

Computes the average cell concentration, or the overall average value if it has never been observed.

virtual double mrpt::slam::CGasConcentrationGridMap2D::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)		`[virtual]`

Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.

Parameters:

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns:: This method returns a likelihood in the range [0,1].

See also:: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::slam::CMetricMap.

double mrpt::slam::CMetricMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)		`[inline, inherited]`

Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.

Parameters:

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns:: This method returns a log-likelihood.

See also:: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 175 of file CMetricMap.h.

double mrpt::slam::CMetricMap::computeObservationsLikelihood	(	const CSensoryFrame &	sf,
		const CPose2D &	takenFrom
	)		`[inherited]`

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

Parameters:

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns:: This method returns a log-likelihood.

See also:: canComputeObservationsLikelihood

double mrpt::slam::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV ( const TRandomFieldCell * cell ) const [protected, inherited]

Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.

static CGasConcentrationGridMap2DPtr mrpt::slam::CGasConcentrationGridMap2D::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CGasConcentrationGridMap2D::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::slam::CGasConcentrationGridMap2D::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 [inline, inherited]

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 151 of file CObject.h.

void mrpt::utils::CDynamicGrid::fill ( const T & value ) [inline, inherited]

Fills all the cells with the same value.

Definition at line 116 of file CDynamicGrid.h.

References fill().

virtual void mrpt::slam::CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const [virtual]

Returns a 3D object representing the map.

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

virtual void mrpt::slam::CGasConcentrationGridMap2D::getAsBitmapFile ( mrpt::utils::CImage & out_img ) const [virtual]

Returns an image just as described in saveAsBitmapFile.

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

void mrpt::slam::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 mrpt::utils::CDynamicGrid::getAsMatrix ( MAT & m ) const [inline, inherited]

Get the entire grid as a matrix.

Template Parameters:

MAT	The type of the matrix, typically a CMatrixDouble.

Parameters:

[out] m The 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 329 of file CDynamicGrid.h.

virtual const CSimplePointsMap* mrpt::slam::CMetricMap::getAsSimplePointsMap ( ) const [inline, virtual, inherited]

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::slam::CPointsMap, mrpt::slam::CMultiMetricMap, and mrpt::slam::CSimplePointsMap.

Definition at line 346 of file CMetricMap.h.

virtual CSimplePointsMap* mrpt::slam::CMetricMap::getAsSimplePointsMap ( ) [inline, virtual, inherited]

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

Definition at line 347 of file CMetricMap.h.

virtual CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::slam::CGasConcentrationGridMap2D::getCommonInsertOptions ( ) [inline, protected, virtual]

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

Implements mrpt::slam::CRandomFieldGridMap2D.

Definition at line 153 of file CGasConcentrationGridMap2D.h.

TMapRepresentation mrpt::slam::CRandomFieldGridMap2D::getMapType ( ) [inherited]

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

void mrpt::slam::CRandomFieldGridMap2D::getMeanAndCov	(	vector_double &	out_means,
		CMatrixDouble &	out_cov
	)		const `[inherited]`

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

float mrpt::utils::CDynamicGrid::getResolution ( ) const [inline, inherited]

Returns the resolution of the grid map.

Definition at line 278 of file CDynamicGrid.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CGasConcentrationGridMap2D::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

size_t mrpt::utils::CDynamicGrid::getSizeX ( ) const [inline, inherited]

Returns the horizontal size of grid map in cells count.

Definition at line 254 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid::getSizeY ( ) const [inline, inherited]

Returns the vertical size of grid map in cells count.

Definition at line 258 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getXMax ( ) const [inline, inherited]

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

Definition at line 266 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getXMin ( ) const [inline, inherited]

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

Definition at line 262 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getYMax ( ) const [inline, inherited]

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

Definition at line 274 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::getYMin ( ) const [inline, inherited]

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

Definition at line 270 of file CDynamicGrid.h.

bool mrpt::utils::CObservable::hasSubscribers ( ) const [inline, protected, inherited]

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 69 of file CObservable.h.

void mrpt::utils::CDynamicGrid::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const `[inline, inherited]`

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

Definition at line 306 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::idx2x ( int cx ) const [inline, inherited]

Transform a cell index into a coordinate value.

Definition at line 314 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::idx2y ( int cy ) const [inline, inherited]

Definition at line 315 of file CDynamicGrid.h.

bool mrpt::slam::CMetricMap::insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)		`[inline, inherited]`

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters:

obs	The observation
robotPose	The 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 133 of file CMetricMap.h.

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV	(	float	normReading,
		const CPose3D &	sensorPose,
		bool	is_DMV
	)		`[protected, inherited]`

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

Parameters:

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose on the robot
is_DMV	= false -> map type is Kernel DM; true -> map type is DM+V

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KF	(	float	normReading,
		const CPose3D &	sensorPose
	)		`[protected, inherited]`

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters:

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KF2	(	float	normReading,
		const CPose3D &	sensorPose
	)		`[protected, inherited]`

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

Parameters:

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose

bool mrpt::slam::CMetricMap::insertObservationPtr	(	const CObservationPtr &	obs,
		const CPose3D *	robotPose = `NULL`
	)		`[inline, inherited]`

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

Definition at line 147 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, mrpt::slam::CObservationPtr::pointer(), and MRPT_END.

virtual void mrpt::slam::CGasConcentrationGridMap2D::internal_clear ( ) [protected, virtual]

Erase all the contents of the map.

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

virtual bool mrpt::slam::CGasConcentrationGridMap2D::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)		`[protected, virtual]`

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters:

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)

See also:: CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CRandomFieldGridMap2D::isEmpty ( ) const [virtual, inherited]

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::slam::CMetricMap.

void mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations ( const 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::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

void mrpt::slam::CMetricMap::loadFromSimpleMap ( const CSimpleMap & Map ) [inline, 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::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 124 of file CMetricMap.h.

std::vector<T>& mrpt::utils::CDynamicGrid::m_map_castaway_const ( ) const [inline, protected, inherited]

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

Definition at line 52 of file CDynamicGrid.h.

void mrpt::slam::CGasConcentrationGridMap2D::noise_filtering	(	float	reading,
		const CPose3D &	sensorPose,
		const mrpt::system::TTimeStamp	timestamp
	)		`[protected]`

Reduce noise by averaging with a mobile window.

virtual void mrpt::slam::CRandomFieldGridMap2D::predictMeasurement	(	const double &	x,
		const double &	y,
		double &	out_predict_response,
		double &	out_predict_response_variance
	)		`[virtual, inherited]`

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

This methods is implemented differently for the different gas map types.

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const [protected, inherited]

Called when you want this object to emit an event to all the observers currently subscribed to this object.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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:

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::slam::CRandomFieldGridMap2D::recoverMeanAndCov ( ) const [protected, inherited]

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See also:: m_hasToRecoverMeanAndCov

virtual void mrpt::utils::CDynamicGrid::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const T &	defaultValueNewCells,
		float	additionalMarginMeters = `2.0f`
	)		`[inline, virtual, inherited]`

Changes the size of the grid, maintaining previous contents.

See also:: setSize

Definition at line 121 of file CDynamicGrid.h.

References MRPT_START, MRPT_CHECK_NORMAL_NUMBER, Eigen::internal::y, mrpt::utils::round(), and MRPT_END.

virtual void mrpt::slam::CRandomFieldGridMap2D::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const TRandomFieldCell &	defaultValueNewCells,
		float	additionalMarginMeters = `1.0f`
	)		`[virtual, inherited]`

Changes the size of the grid, maintaining previous contents.

See also:: setSize

void mrpt::slam::CGasConcentrationGridMap2D::save_log_map	(	const mrpt::system::TTimeStamp	timestamp,
		const float	reading,
		const float	estimation,
		const float	k,
		const double	yaw,
		const float	speed
	)		`[protected]`

Save the GAS_MAP generated into a log file for offline representation.

virtual void mrpt::slam::CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string & filName ) const [virtual, inherited]

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()

virtual void mrpt::slam::CGasConcentrationGridMap2D::saveAsMatlab3DGraph ( const std::string & filName ) const [virtual]

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.

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

virtual void mrpt::slam::CGasConcentrationGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const [virtual]

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

Reimplemented from mrpt::slam::CRandomFieldGridMap2D.

void mrpt::utils::CDynamicGrid::saveToTextFile ( const std::string & fileName ) const [inline, inherited]

Definition at line 286 of file CDynamicGrid.h.

References mrpt::system::os::fopen(), mrpt::system::os::fprintf(), and mrpt::system::os::fclose().

void mrpt::utils::CDynamicGrid::setSize	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution
	)		`[inline, inherited]`

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

See also:: resize

Definition at line 83 of file CDynamicGrid.h.

References mrpt::utils::round().

virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence	(	const float &	x0,
		const float &	y0
	)		const `[inline, virtual, inherited]`

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

Definition at line 333 of file CMetricMap.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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:

out	The output binary stream where object must be dumped.
getVersion	If 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::exception On any error, see CStream::WriteBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

int mrpt::utils::CDynamicGrid::x2idx ( float x ) const [inline, inherited]

Transform a coordinate values into cell indexes.

Definition at line 301 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid::x2idx	(	float	x,
		float	x_min
	)		const `[inline, inherited]`

Transform a coordinate value into a cell index, using a diferent "x_min" value.

Definition at line 319 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid::xy2idx	(	float	x,
		float	y
	)		const `[inline, inherited]`

Definition at line 303 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid::y2idx ( float y ) const [inline, inherited]

Definition at line 302 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid::y2idx	(	float	y,
		float	y_min
	)		const `[inline, inherited]`

Definition at line 320 of file CDynamicGrid.h.

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::slam::CMetricMap.

Definition at line 117 of file CRandomFieldGridMap2D.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CGasConcentrationGridMap2D::_init_CGasConcentrationGridMap2D [static, protected]

Definition at line 60 of file CGasConcentrationGridMap2D.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CGasConcentrationGridMap2D::classCGasConcentrationGridMap2D [static]

Definition at line 60 of file CGasConcentrationGridMap2D.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CMetricMap::classCMetricMap [static, inherited]

Definition at line 81 of file CMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CRandomFieldGridMap2D::classCRandomFieldGridMap2D [static, inherited]

Definition at line 117 of file CRandomFieldGridMap2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CGasConcentrationGridMap2D::classinfo [static]

Definition at line 60 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::decimate_count [protected]

[useMOSmodel] Decimate value for oversampled enose readings

Definition at line 181 of file CGasConcentrationGridMap2D.h.

bool mrpt::slam::CGasConcentrationGridMap2D::first_incT [protected]

Definition at line 186 of file CGasConcentrationGridMap2D.h.

double mrpt::slam::CGasConcentrationGridMap2D::fixed_incT [protected]

[useMOSmodel] To force e-nose samples to have fixed time increments

Definition at line 185 of file CGasConcentrationGridMap2D.h.

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions mrpt::slam::CGasConcentrationGridMap2D::insertionOptions

std::vector<TdataMap> mrpt::slam::CGasConcentrationGridMap2D::m_antiNoise_window [protected]

Definition at line 173 of file CGasConcentrationGridMap2D.h.

size_t mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_count [protected, inherited]

Definition at line 298 of file CRandomFieldGridMap2D.h.

double mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_mean [protected, inherited]

Definition at line 297 of file CRandomFieldGridMap2D.h.

double mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_var [protected, inherited]

Definition at line 297 of file CRandomFieldGridMap2D.h.

CMatrixD mrpt::slam::CRandomFieldGridMap2D::m_cov [protected, inherited]

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 284 of file CRandomFieldGridMap2D.h.

std::ofstream* mrpt::slam::CGasConcentrationGridMap2D::m_debug_dump [protected]

[useMOSmodel] Ofstream to save to file option "save_maplog"

Definition at line 177 of file CGasConcentrationGridMap2D.h.

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject [inherited]

When set to true (default=false), calling "getAs3DObject" will have no effects.

Definition at line 321 of file CMetricMap.h.

std::vector<float> mrpt::slam::CRandomFieldGridMap2D::m_DM_gaussWindow [protected, inherited]

Definition at line 296 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::m_DM_lastCutOff [protected, inherited]

Definition at line 295 of file CRandomFieldGridMap2D.h.

bool mrpt::slam::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov [mutable, protected, inherited]

Only for the KF2 implementation.

Definition at line 291 of file CRandomFieldGridMap2D.h.

TInsertionOptionsCommon* mrpt::slam::CRandomFieldGridMap2D::m_insertOptions_common [protected, inherited]

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 276 of file CRandomFieldGridMap2D.h.

std::vector<TdataMap> mrpt::slam::CGasConcentrationGridMap2D::m_lastObservations [protected]

Definition at line 172 of file CGasConcentrationGridMap2D.h.

std::vector<T> mrpt::utils::CDynamicGrid::m_map [protected, inherited]

The cells.

Definition at line 49 of file CDynamicGrid.h.

TMapRepresentation mrpt::slam::CRandomFieldGridMap2D::m_mapType [protected, inherited]

The map representation type of this map, as passed in the constructor.

Definition at line 282 of file CRandomFieldGridMap2D.h.

TdataMap mrpt::slam::CGasConcentrationGridMap2D::m_new_ANS [protected]

Definition at line 171 of file CGasConcentrationGridMap2D.h.

TdataMap mrpt::slam::CGasConcentrationGridMap2D::m_new_Obs [protected]

[useMOSmodel] The last N GasObservations, used for the MOS MODEL estimation.

Definition at line 171 of file CGasConcentrationGridMap2D.h.

float mrpt::utils::CDynamicGrid::m_resolution [protected, inherited]

Definition at line 55 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid::m_size_x [protected, inherited]

Definition at line 56 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid::m_size_y [protected, inherited]

Definition at line 56 of file CDynamicGrid.h.

CMatrixD mrpt::slam::CRandomFieldGridMap2D::m_stackedCov [protected, inherited]

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 290 of file CRandomFieldGridMap2D.h.

float mrpt::utils::CDynamicGrid::m_x_max [protected, inherited]

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::m_x_min [protected, inherited]

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::m_y_max [protected, inherited]

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid::m_y_min [protected, inherited]

Definition at line 54 of file CDynamicGrid.h.