CWirelessPowerGridMap2D.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */

#ifndef CWirelessPowerGridMap2D_H
#define CWirelessPowerGridMap2D_H

#include <mrpt/slam/CRandomFieldGridMap2D.h>
#include <mrpt/slam/CObservationWirelessPower.h>

#include <mrpt/maps/link_pragmas.h>

namespace mrpt
{
namespace slam
{
        using namespace mrpt::utils;
        using namespace mrpt::poses;
        using namespace mrpt::math;

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CWirelessPowerGridMap2D , CRandomFieldGridMap2D, MAPS_IMPEXP )


        /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
          *
          *  There are a number of methods available to build the wifi grid-map, depending on the value of
          *    "TMapRepresentation maptype" passed in the constructor.
          *
          *  The following papers describe the mapping alternatives implemented here:
          *             - mrKernelDM: A kernel-based method:
          *             "Building gas concentration gridmaps with a mobile robot", Lilienthal, A. and Duckett, T., Robotics and Autonomous Systems, v.48, 2004.
          *
          *             - mrKernelDMV: A kernel-based method:
          *             "A Statistical Approach to Gas Distribution Modelling with Mobile Robots--The Kernel DM+ V Algorithm"
          *       , Lilienthal, A.J. and Reggente, M. and Trincavelli, M. and Blanco, J.L. and Gonzalez, J., IROS 2009.
          *
          * \sa mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap
          * \ingroup mrpt_maps_grp
          */
        class MAPS_IMPEXP CWirelessPowerGridMap2D : public CRandomFieldGridMap2D
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CWirelessPowerGridMap2D )
        public:
                /** Constructor
                  */
                CWirelessPowerGridMap2D(
                        TMapRepresentation      mapType = mrAchim,
            float                               x_min = -2,
                        float                           x_max = 2,
                        float                           y_min = -2,
                        float                           y_max = 2,
                        float                           resolution = 0.1
                        );

                /** Destructor */
                virtual ~CWirelessPowerGridMap2D();


                /** Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
                 *
                 * \param takenFrom The robot's pose the observation is supposed to be taken from.
                 * \param obs The observation.
                 * \return This method returns a likelihood in the range [0,1].
                 *
                 * \sa Used in particle filter algorithms, see: CMultiMetricMapPDF::update
                 */
                 double  computeObservationLikelihood( const CObservation *obs, const CPose3D &takenFrom );


                /** Parameters related with inserting observations into the map:
                  */
                struct MAPS_IMPEXP TInsertionOptions :
                        public utils::CLoadableOptions,
                        public TInsertionOptionsCommon
                {
                        TInsertionOptions();    //!< Default values loader

                        /** See utils::CLoadableOptions */
                        void  loadFromConfigFile(
                                const mrpt::utils::CConfigFileBase  &source,
                                const std::string &section);

                        void  dumpToTextStream(CStream  &out) const; //!< See utils::CLoadableOptions

                } insertionOptions;

                /** Returns an image just as described in \a saveAsBitmapFile */
                virtual void  getAsBitmapFile(mrpt::utils::CImage &out_img) const;

                /** The implementation in this class just calls all the corresponding method of the contained metric maps.
                  */
                void  saveMetricMapRepresentationToFile(
                        const std::string       &filNamePrefix
                        ) const;

                /** 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.
                  */
                void  saveAsMatlab3DGraph(const std::string  &filName) const;

                /** Returns a 3D object representing the map.
                  */
                void  getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr    &outObj ) const;

        protected:
                /** Get the part of the options common to all CRandomFieldGridMap2D classes */
                virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() {
                        return &insertionOptions;
                }

                 /** Erase all the contents of the map
                  */
                 virtual void  internal_clear();

                 /** Insert the observation information into this map. This method must be implemented
                  *    in derived classes.
                  * \param obs The observation
                  * \param 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)
                  *
                  * \sa CObservation::insertObservationInto
                  */
                 virtual bool  internal_insertObservation( const CObservation *obs, const CPose3D *robotPose = NULL );


        };


        } // End of namespace

} // End of namespace

#endif