Detailed Description

A class for storing an occupancy grid map.

COccupancyGridMap2D is a class for storing a metric map representation in the form of a probabilistic occupancy grid map: value of 0 means certainly occupied, 1 means a certainly empty cell. Initially 0.5 means uncertainty.

The cells keep the log-odd representation of probabilities instead of the probabilities themselves. More details can be found at http://www.mrpt.org/Occupancy_Grids

The algorithm for updating the grid from a laser scanner can optionally take into account the progressive widening of the beams, as described in the wiki (this feature was introduced in MRPT 0.6.4).

Some implemented methods are:

Update of individual cells
Insertion of observations
Voronoi diagram and critical points (buildVoronoiDiagram)
Saving and loading from/to a bitmap
Laser scans simulation for the map contents
Entropy and information methods (See computeEntropy)

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D:

[legend]

List of all members.

Classes
struct	TCriticalPointsList
	The structure used to store the set of Voronoi diagram critical points. More...
struct	TEntropyInfo
	Used for returning entropy related information. More...
class	TInsertionOptions
	With this struct options are provided to the observation insertion process. More...
class	TLikelihoodOptions
	With this struct options are provided to the observation likelihood computation process. More...
class	TLikelihoodOutput
	Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...
struct	TUpdateCellsInfoChangeOnly
	An internal structure for storing data related to counting the new information apported by some observation. More...
Public Types
enum	TLikelihoodMethod { lmMeanInformation = 0, lmRayTracing, lmConsensus, lmCellsDifference, lmLikelihoodField_Thrun, lmLikelihoodField_II, lmConsensusOWA }
	The type for selecting a likelihood computation method. More...
typedef int16_t	cellType
	The type of the map cells:
typedef uint16_t	cellTypeUnsigned
typedef std::pair< double, CPoint2D >	TPairLikelihoodIndex
	Auxiliary private class.
typedef TCELL	cell_t
	The type of cells.
typedef detail::logoddscell_traits < TCELL >	traits_t
Public Member Functions
void	updateCell (int x, int y, float v)
	Performs the Bayesian fusion of a new observation of a cell.
	COccupancyGridMap2D (float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f)
	Constructor.
void	fill (float default_value=0.5f)
	Fills all the cells with a default value.
virtual	~COccupancyGridMap2D ()
	Destructor.
void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f)
	Change the size of gridmap, erasing all its previous contents.
void	resizeGrid (float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) MRPT_NO_THROWS
	Change the size of gridmap, maintaining previous contents.
double	getArea () const
	Returns the area of the gridmap, in square meters.
unsigned int	getSizeX () const
	Returns the horizontal size of grid map in cells count.
unsigned int	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.
int	x2idx (float x) const
	Transform a coordinate value into a cell index.
int	y2idx (float y) const
int	x2idx (double x) const
int	y2idx (double y) const
float	idx2x (const size_t cx) const
	Transform a cell index into a coordinate value.
float	idx2y (const size_t cy) const
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, float y_min) const
void	setCell (int x, int y, float value)
	Change the contents [0,1] of a cell, given its index.
float	getCell (int x, int y) const
	Read the real valued [0,1] contents of a cell, given its index.
cellType *	getRow (int cy)
	Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
const cellType *	getRow (int cy) const
	Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
void	setPos (float x, float y, float value)
	Change the contents [0,1] of a cell, given its coordinates.
float	getPos (float x, float y) const
	Read the real valued [0,1] contents of a cell, given its coordinates.
bool	isStaticPos (float x, float y, float threshold=0.7f) const
	Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.
bool	isStaticCell (int cx, int cy, float threshold=0.7f) const
void	setBasisCell (int x, int y, uint8_t value)
	Change a cell in the "basis" maps.Used for Voronoi calculation.
unsigned char	getBasisCell (int x, int y) const
	Reads a cell in the "basis" maps.Used for Voronoi calculation.
void	subSample (int downRatio)
	Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.
void	computeEntropy (TEntropyInfo &info) const
	Computes the entropy and related values of this grid map.
int	computeClearance (int cx, int cy, int basis_x, int basis_y, int *nBasis, bool GetContourPoint=false) const
	Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.
float	computeClearance (float x, float y, float maxSearchDistance) const
	An alternative method for computing the clearance of a given location (in meters).
float	computePathCost (float x1, float y1, float x2, float y2) const
	Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.
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.
bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
double	computeLikelihoodField_Thrun (const CPointsMap pm, const CPose2D relativePose=NULL)
	Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
double	computeLikelihoodField_II (const CPointsMap pm, const CPose2D relativePose=NULL)
	Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
bool	saveAsBitmapFile (const std::string &file) const
	Saves the gridmap as a graphical file (BMP,PNG,...).
template<class CLANDMARKSMAP >
bool	saveAsBitmapFileWithLandmarks (const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::utils::TColor &marks_color=mrpt::utils::TColor(0, 0, 255)) const
	Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.
void	getAsImage (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const
	Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
void	getAsImageFiltered (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
	Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.
bool	isEmpty () const
	Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.
bool	loadFromBitmapFile (const std::string &file, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
	Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
bool	loadFromBitmap (const mrpt::utils::CImage &img, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
	Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.
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	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
void	clear ()
	Erase all the contents of the map.
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.
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	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.
Sensor simulators
void	laserScanSimulator (CObservation2DRangeScan &inout_Scan, const CPose2D &robotPose, float threshold=0.5f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=DEG2RAD(0)) const
	Simulates a laser range scan into the current grid map.
void	sonarSimulator (CObservationRange &inout_observation, const CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0, float angleNoiseStd=DEG2RAD(0)) const
	Simulates the observations of a sonar rig into the current grid map.
void	simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const unsigned int max_ray_len, const float threshold_free=0.5f, const double noiseStd=0, const double angleNoiseStd=0) const
	Simulate just one "ray" in the grid map.
Static Public Member Functions
static float	l2p (const cellType l)
	Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))
static uint8_t	l2p_255 (const cellType l)
	Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))
static cellType	p2l (const float p)
	Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.
static bool	saveAsBitmapTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D m1, const COccupancyGridMap2D m2, const TMatchingPairList &corrs)
	Saves a composite image with two gridmaps and lines representing a set of correspondences between them.
static bool	saveAsEMFTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D m1, const COccupancyGridMap2D m2, const TMatchingPairList &corrs)
	Saves a composite image with two gridmaps and numbers for the correspondences between them.
static void	updateCell_fast_occupied (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_free (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
Public Attributes
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly	updateInfoChangeOnly
TInsertionOptions	insertionOptions
	With this struct options are provided to the observation insertion process.
mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions	likelihoodOptions
class mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput	likelihoodOutputs
struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TCriticalPointsList	CriticalPointsList
bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects.
Static Public Attributes
static const cellType	OCCGRID_CELLTYPE_MIN = CLogOddsGridMap2D<cellType>::CELLTYPE_MIN
	Discrete to float conversion factors: The min/max values of the integer cell type, eg.
static const cellType	OCCGRID_CELLTYPE_MAX = CLogOddsGridMap2D<cellType>::CELLTYPE_MAX
static const cellType	OCCGRID_P2LTABLE_SIZE = CLogOddsGridMap2D<cellType>::P2LTABLE_SIZE
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
virtual void	OnPostSuccesfulInsertObs (const CObservation *)
	See base class.
void	freeMap ()
	Frees the dynamic memory buffers of map.
void	setCell_nocheck (int x, int y, float value)
	Change the contents [0,1] of a cell, given its index.
float	getCell_nocheck (int x, int y) const
	Read the real valued [0,1] contents of a cell, given its index.
void	setRawCell (unsigned int cellIndex, cellType b)
	Changes a cell by its absolute index (Do not use it normally)
double	computeObservationLikelihood_Consensus (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)
double	computeObservationLikelihood_ConsensusOWA (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in....
double	computeObservationLikelihood_CellsDifference (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood".
double	computeObservationLikelihood_MI (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood".
double	computeObservationLikelihood_rayTracing (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood".
double	computeObservationLikelihood_likelihoodField_Thrun (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood".
double	computeObservationLikelihood_likelihoodField_II (const CObservation *obs, const CPose2D &takenFrom)
	One of the methods that can be selected for implementing "computeObservationLikelihood".
virtual void	internal_clear ()
	Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).
virtual bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
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.
Static Protected Member Functions
static double	H (double p)
	Entropy computation internal function:
Protected Attributes
std::vector< cellType >	map
	This is the buffer for storing the cells.In this dynamic size buffer are stored the cell values as "bytes", stored row by row, from left to right cells.
uint32_t	size_x
	The size of the grid in cells.
uint32_t	size_y
float	x_min
	The limits of the grid in "units" (meters).
float	x_max
float	y_min
float	y_max
float	resolution
	Cell size, i.e.
std::vector< double >	precomputedLikelihood
	These are auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).
bool	precomputedLikelihoodToBeRecomputed
CDynamicGrid< uint8_t >	m_basis_map
	Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.
CDynamicGrid< uint16_t >	m_voronoi_diagram
	Used to store the Voronoi diagram.
bool	m_is_empty
	True upon construction; used by isEmpty()
float	voroni_free_threshold
	The free-cells threshold used to compute the Voronoi diagram.
Static Protected Attributes
static CLogOddsGridMapLUT < cellType >	m_logodd_lut
	Lookup tables for log-odds.
static std::vector< float >	entropyTable
	Internally used to speed-up entropy calculation.
Private Member Functions
unsigned char	GetNeighborhood (int cx, int cy) const
	Returns a byte with the occupancy of the 8 sorrounding cells.
int	direction2idx (int dx, int dy)
	Returns the index [0,7] of the given movement, or.
Private Attributes
int	direccion_vecino_x [8]
	Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.
int	direccion_vecino_y [8]
Friends
class	CMultiMetricMap
class	CMultiMetricMapPDF
RTTI stuff
typedef COccupancyGridMap2DPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_COccupancyGridMap2D
static mrpt::utils::TRuntimeClassId	classCOccupancyGridMap2D
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 COccupancyGridMap2DPtr	Create ()
Voronoi methods
void	buildVoronoiDiagram (float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0)
	Build the Voronoi diagram of the grid map.
uint16_t	getVoroniClearance (int cx, int cy) const
	Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.
const CDynamicGrid< uint8_t > &	getBasisMap () const
	Return the auxiliary "basis" map built while building the Voronoi diagram.
const CDynamicGrid< uint16_t > &	getVoronoiDiagram () const
	Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.
void	findCriticalPoints (float filter_distance)
	Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.
void	setVoroniClearance (int cx, int cy, uint16_t dist)
	Used to set the clearance of a cell, while building the Voronoi diagram.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMetricMap
class	mrpt::utils::CStream

Member Typedef Documentation

typedef TCELL mrpt::slam::CLogOddsGridMap2D::cell_t [inherited]

The type of cells.

Definition at line 69 of file CLogOddsGridMap2D.h.

typedef int16_t mrpt::slam::COccupancyGridMap2D::cellType

The type of the map cells:

Definition at line 110 of file COccupancyGridMap2D.h.

typedef uint16_t mrpt::slam::COccupancyGridMap2D::cellTypeUnsigned

Definition at line 111 of file COccupancyGridMap2D.h.

typedef COccupancyGridMap2DPtr mrpt::slam::COccupancyGridMap2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 102 of file COccupancyGridMap2D.h.

typedef std::pair<double,CPoint2D> mrpt::slam::COccupancyGridMap2D::TPairLikelihoodIndex

Auxiliary private class.

Definition at line 695 of file COccupancyGridMap2D.h.

typedef detail::logoddscell_traits<TCELL> mrpt::slam::CLogOddsGridMap2D::traits_t [inherited]

Definition at line 70 of file CLogOddsGridMap2D.h.

Member Enumeration Documentation

enum mrpt::slam::COccupancyGridMap2D::TLikelihoodMethod

The type for selecting a likelihood computation method.

Enumerator:

lmMeanInformation
lmRayTracing
lmConsensus
lmCellsDifference
lmLikelihoodField_Thrun
lmLikelihoodField_II
lmConsensusOWA

Definition at line 584 of file COccupancyGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D	(	float	min_x = `-20.0f`,
		float	max_x = `20.0f`,
		float	min_y = `-20.0f`,
		float	max_y = `20.0f`,
		float	resolution = `0.05f`
	)

Constructor.

virtual mrpt::slam::COccupancyGridMap2D::~COccupancyGridMap2D ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CMetricMap.

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.

void mrpt::slam::COccupancyGridMap2D::buildVoronoiDiagram	(	float	threshold,
		float	robot_size,
		int	x1 = `0`,
		int	x2 = `0`,
		int	y1 = `0`,
		int	y2 = `0`
	)

Build the Voronoi diagram of the grid map.

Parameters:

threshold	The threshold for binarizing the map.
robot_size	Size in "units" (meters) of robot, approx.
x1	Left coordinate of area to be computed. Default, entire map.
x2	Right coordinate of area to be computed. Default, entire map.
y1	Top coordinate of area to be computed. Default, entire map.
y2	Bottom coordinate of area to be computed. Default, entire map.

See also:: findCriticalPoints

bool mrpt::slam::COccupancyGridMap2D::canComputeObservationLikelihood ( const CObservation * obs ) [virtual]

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 from mrpt::slam::CMetricMap.

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

void mrpt::slam::CMetricMap::clear ( ) [inherited]

Erase all the contents of the map.

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CHeightGridMap2D, and mrpt::slam::CReflectivityGridMap2D.

Referenced by mrpt::slam::CHeightGridMap2D::clear(), and mrpt::slam::CReflectivityGridMap2D::clear().

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::COccupancyGridMap2D::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	minDistForCorr = `0.10f`,
		float	minMahaDistForCorr = `2.0f`
	)		const `[virtual]`

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.

int mrpt::slam::COccupancyGridMap2D::computeClearance	(	int	cx,
		int	cy,
		int *	basis_x,
		int *	basis_y,
		int *	nBasis,
		bool	GetContourPoint = `false`
	)		const

Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.

Returns:: The clearance of the cell, in 1/100 of "cell".

Parameters:

cx	The cell index
cy	The cell index
basis_x	Target buffer for coordinates of basis, having a size of two "ints".
basis_y	Target buffer for coordinates of basis, having a size of two "ints".
nBasis	The number of found basis: Can be 0,1 or 2.
GetContourPoint	If "true" the basis are not returned, but the closest free cells.Default at false.

See also:: Build_VoronoiDiagram

float mrpt::slam::COccupancyGridMap2D::computeClearance	(	float	x,
		float	y,
		float	maxSearchDistance
	)		const

An alternative method for computing the clearance of a given location (in meters).

Returns:: The clearance (distance to closest OCCUPIED cell), in meters.

void mrpt::slam::COccupancyGridMap2D::computeEntropy ( TEntropyInfo & info ) const

Computes the entropy and related values of this grid map.

The entropy is computed as the summed entropy of each cell, taking them as discrete random variables following a Bernoulli distribution:

Parameters:

info	The output information is returned here.

double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_II	(	const CPointsMap *	pm,
		const CPose2D *	relativePose = `NULL`
	)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters:

pm	The points map
relativePose	The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.

double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_Thrun	(	const CPointsMap *	pm,
		const CPose2D *	relativePose = `NULL`
	)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters:

pm	The points map
relativePose	The relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.

void mrpt::slam::COccupancyGridMap2D::computeMatchingWith2D	(	const CMetricMap *	otherMap,
		const CPose2D &	otherMapPose,
		float	maxDistForCorrespondence,
		float	maxAngularDistForCorrespondence,
		const CPose2D &	angularDistPivotPoint,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		float *	sumSqrDist = `NULL`,
		bool	onlyKeepTheClosest = `false`,
		bool	onlyUniqueRobust = `false`,
		const size_t	decimation_other_map_points = `1`,
		const size_t	offset_other_map_points = `0`
	)		const `[virtual]`

See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.

NOTICE: That the "z" dimension is ignored in the points. Clip the points as appropiated if needed before calling this method.

See also:: computeMatching3DWith

Reimplemented from mrpt::slam::CMetricMap.

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::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::COccupancyGridMap2D::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.

See "likelihoodOptions" for configuration parameters.

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].

Used in particle filter algorithms, see: CMultiMetricMapPDF::prediction_and_update

See also:: likelihoodOptions, likelihoodOutputs

Implements mrpt::slam::CMetricMap.

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)		`[protected]`