Detailed Description

This class stores any customizable set of metric maps.

The internal metric maps can be accessed directly by the user. If some kind of map is not desired, it can be just ignored, but if this fact is specified in the "CMultiMetricMap::mapsUsage" member some methods (as the observation insertion) will be more efficient since it will be invoked on desired maps only.

Currently these metric maps are supported for being kept internally::

mrpt::slam::CPointsMap: For laser 2D range scans, and posibly for IR ranges,... (It keeps the full 3D structure of scans)
mrpt::slam::COccupancyGridMap2D: Exclusively for 2D, horizontal laser range scans, at different altitudes.
mrpt::slam::CLandmarksMap: For visual landmarks,etc...
mrpt::slam::CGasConcentrationGridMap2D: For gas concentration maps.
mrpt::slam::CWirelessPowerGridMap2D: For wifi power maps.
mrpt::slam::CBeaconMap: For range-only SLAM.
mrpt::slam::CHeightGridMap2D: For maps of height for each (x,y) location.
mrpt::slam::CReflectivityGridMap2D: For maps of "reflectivity" for each (x,y) location.
mrpt::slam::CColouredPointsMap: For point map with color.
mrpt::slam::CWeightedPointsMap: For point map with weights (capable of "fusing").

See CMultiMetricMap::setListOfMaps() for the method for initializing this class, and also see TSetOfMetricMapInitializers::loadFromConfigFile for a template of ".ini"-like configuration file that can be used to define what maps to create and all their parameters.

See Also: CMetricMap

Definition at line 79 of file CMultiMetricMap.h.

#include <mrpt/slam/CMultiMetricMap.h>

Inheritance diagram for mrpt::slam::CMultiMetricMap:

[legend]

Classes
struct	TOptions
	Some options for this class: More...

Public Types
typedef std::pair< CPoint3D, unsigned int >	TPairIdBeacon

Public Member Functions
bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted.

	CMultiMetricMap (const mrpt::slam::TSetOfMetricMapInitializers initializers=NULL, const TOptions opts=NULL)
	Constructor.

void	setListOfMaps (const mrpt::slam::TSetOfMetricMapInitializers *initializers)
	Sets the list of internal map according to the passed list of map initializers (Current maps' content will be deleted!)

	CMultiMetricMap (const mrpt::slam::CMultiMetricMap &other)
	Copy constructor.

mrpt::slam::CMultiMetricMap &	operator= (const mrpt::slam::CMultiMetricMap &other)
	Copy operator from "other" object.

virtual	~CMultiMetricMap ()
	Destructor.

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.

float	getNewStaticPointsRatio (CPointsMap *points, CPose2D &takenFrom)
	Returns the ratio of points in a map which are new to the point map while falling into yet static cells of gridmap.

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 definition in the base class: In this class calls to this method are passed to the inner point map.

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

void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

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

bool	canComputeObservationLikelihood (const CObservation *obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

bool	canComputeObservationLikelihood (const CObservationPtr &obs)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

virtual const CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple point map or it's a multi-metric map that contains EXACTLY one simple point map, return it.

virtual CSimplePointsMap *	getAsSimplePointsMap ()

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 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.

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.

Public Attributes
mrpt::slam::CMultiMetricMap::TOptions	options

unsigned int	m_ID
	An auxiliary variable that can be used freely by the users (this will be copied to other maps using the copy constructor, copy operator, streaming,etc) The default value is 0.

bool	m_disableSaveAs3DObject
	When set to true (default=false), calling "getAs3DObject" will have no effects.

Internal lists of maps
std::deque< CSimplePointsMapPtr >	m_pointsMaps

std::deque < COccupancyGridMap2DPtr >	m_gridMaps

std::deque < CGasConcentrationGridMap2DPtr >	m_gasGridMaps

std::deque < CWirelessPowerGridMap2DPtr >	m_wifiGridMaps

std::deque< CHeightGridMap2DPtr >	m_heightMaps

std::deque < CReflectivityGridMap2DPtr >	m_reflectivityMaps

CColouredPointsMapPtr	m_colourPointsMap

CWeightedPointsMapPtr	m_weightedPointsMap

CLandmarksMapPtr	m_landmarksMap

CBeaconMapPtr	m_beaconMap

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
void	deleteAllMaps ()
	Deletes all maps and clears the internal lists of maps.

virtual void	internal_clear ()
	Clear all elements of the map.

virtual bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map (see options)

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.

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	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.

RTTI stuff
typedef CMultiMetricMapPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CMultiMetricMap

static mrpt::utils::TRuntimeClassId	classCMultiMetricMap

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 CMultiMetricMapPtr	Create ()

Member Typedef Documentation

typedef CMultiMetricMapPtr mrpt::slam::CMultiMetricMap::SmartPtr

A typedef for the associated smart pointer

Definition at line 82 of file CMultiMetricMap.h.

typedef std::pair<CPoint3D,unsigned int> mrpt::slam::CMultiMetricMap::TPairIdBeacon

Definition at line 102 of file CMultiMetricMap.h.

Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMap::CMultiMetricMap	(	const mrpt::slam::TSetOfMetricMapInitializers *	initializers = `NULL`,
		const TOptions *	opts = `NULL`
	)

Constructor.

Parameters

initializers	One internal map will be created for each entry in this "TSetOfMetricMapInitializers" struct, and each map will be initialized with the corresponding options.
opts	If provided (not NULL), the member "options" will be initialized with those values. If initializers is NULL, no internal map will be created.

mrpt::slam::CMultiMetricMap::CMultiMetricMap ( const mrpt::slam::CMultiMetricMap & other )

Copy constructor.

virtual mrpt::slam::CMultiMetricMap::~CMultiMetricMap ( )

virtual

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMap::_GetBaseClass ( )

staticprotected

void mrpt::slam::CMultiMetricMap::auxParticleFilterCleanUp ( )

virtual

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 from mrpt::slam::CMetricMap.

bool mrpt::slam::CMultiMetricMap::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::CMultiMetricMap::canComputeObservationLikelihood ( const CObservationPtr & obs )

inline

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

Definition at line 290 of file CMultiMetricMap.h.

References canComputeObservationLikelihood(), and mrpt::slam::CObservationPtr::pointer().

Referenced by canComputeObservationLikelihood().

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.

Referenced by mrpt::slam::CReflectivityGridMap2D::clear(), mrpt::slam::CHeightGridMap2D::clear(), and mrpt::slam::CRandomFieldGridMap2D::clear().

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

float mrpt::slam::CMultiMetricMap::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.

void mrpt::slam::CMultiMetricMap::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 definition in the base class: In this class calls to this method are passed to the inner point map.

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

inlinevirtualinherited

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_END, MRPT_START, and THROW_EXCEPTION.

double mrpt::slam::CMetricMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

inlineinherited

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::CMultiMetricMap::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: likelihoodMapSelection, Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::slam::CMetricMap.

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

static CMultiMetricMapPtr mrpt::slam::CMultiMetricMap::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CMultiMetricMap::CreateObject ( )

static

void mrpt::slam::CMultiMetricMap::deleteAllMaps ( )

protected

Deletes all maps and clears the internal lists of maps.

virtual mrpt::utils::CObject* mrpt::slam::CMultiMetricMap::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

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

void mrpt::slam::CMultiMetricMap::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map.

Implements mrpt::slam::CMetricMap.

virtual const CSimplePointsMap* mrpt::slam::CMultiMetricMap::getAsSimplePointsMap ( ) const

virtual

If the map is a simple point map or it's a multi-metric map that contains EXACTLY one simple point map, return it.

Otherwise, return NULL

Reimplemented from mrpt::slam::CMetricMap.

virtual CSimplePointsMap* mrpt::slam::CMultiMetricMap::getAsSimplePointsMap ( )

virtual

Reimplemented from mrpt::slam::CMetricMap.

float mrpt::slam::CMultiMetricMap::getNewStaticPointsRatio	(	CPointsMap *	points,
		CPose2D &	takenFrom
	)

Returns the ratio of points in a map which are new to the point map while falling into yet static cells of gridmap.

Parameters

points	The set of points to check.
takenFrom	The pose for the reference system of points, in global coordinates of this hybrid map.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMap::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

bool mrpt::utils::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 69 of file CObservable.h.

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

inlineinherited

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.

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

inlineinherited

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

Definition at line 147 of file CMetricMap.h.

References MRPT_END, MRPT_START, mrpt::slam::CObservationPtr::pointer(), mrpt::stlplus::smart_ptr_base< T, C, COUNTER >::present(), and THROW_EXCEPTION.

virtual void mrpt::slam::CMultiMetricMap::internal_clear ( )

protectedvirtual

Clear all elements of the map.

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CMultiMetricMap::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

protectedvirtual

Insert the observation information into this map (see options)

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.

bool mrpt::slam::CMultiMetricMap::isEmpty ( ) const

virtual

Returns true if the map is empty/no observation has been inserted.

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 )

inlineinherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.

See Also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 124 of file CMetricMap.h.

mrpt::slam::CMultiMetricMap& mrpt::slam::CMultiMetricMap::operator= ( const mrpt::slam::CMultiMetricMap & other )

Copy operator from "other" object.

void mrpt::utils::CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

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

void mrpt::slam::CMultiMetricMap::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

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

Implements mrpt::utils::CSerializable.

void mrpt::slam::CMultiMetricMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtual

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

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CMultiMetricMap::setListOfMaps ( const mrpt::slam::TSetOfMetricMapInitializers * initializers )

Sets the list of internal map according to the passed list of map initializers (Current maps' content will be deleted!)

virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence	(	const float &	x0,
		const float &	y0
	)		const

inlinevirtualinherited

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_END, MRPT_START, and THROW_EXCEPTION.

void mrpt::slam::CMultiMetricMap::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

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

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CMultiMetricMap::_init_CMultiMetricMap

staticprotected

Definition at line 82 of file CMultiMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CMetricMap::classCMetricMap

staticinherited

Definition at line 81 of file CMetricMap.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CMultiMetricMap::classCMultiMetricMap

static

Definition at line 82 of file CMultiMetricMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CMultiMetricMap::classinfo

static

Definition at line 82 of file CMultiMetricMap.h.

CBeaconMapPtr mrpt::slam::CMultiMetricMap::m_beaconMap

Definition at line 183 of file CMultiMetricMap.h.

CColouredPointsMapPtr mrpt::slam::CMultiMetricMap::m_colourPointsMap

Definition at line 180 of file CMultiMetricMap.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::deque<CGasConcentrationGridMap2DPtr> mrpt::slam::CMultiMetricMap::m_gasGridMaps

Definition at line 176 of file CMultiMetricMap.h.

std::deque<COccupancyGridMap2DPtr> mrpt::slam::CMultiMetricMap::m_gridMaps

Definition at line 175 of file CMultiMetricMap.h.

std::deque<CHeightGridMap2DPtr> mrpt::slam::CMultiMetricMap::m_heightMaps

Definition at line 178 of file CMultiMetricMap.h.

unsigned int mrpt::slam::CMultiMetricMap::m_ID

An auxiliary variable that can be used freely by the users (this will be copied to other maps using the copy constructor, copy operator, streaming,etc) The default value is 0.

Definition at line 300 of file CMultiMetricMap.h.

CLandmarksMapPtr mrpt::slam::CMultiMetricMap::m_landmarksMap

Definition at line 182 of file CMultiMetricMap.h.

std::deque<CSimplePointsMapPtr> mrpt::slam::CMultiMetricMap::m_pointsMaps

Definition at line 174 of file CMultiMetricMap.h.

std::deque<CReflectivityGridMap2DPtr> mrpt::slam::CMultiMetricMap::m_reflectivityMaps

Definition at line 179 of file CMultiMetricMap.h.

CWeightedPointsMapPtr mrpt::slam::CMultiMetricMap::m_weightedPointsMap

Definition at line 181 of file CMultiMetricMap.h.

std::deque<CWirelessPowerGridMap2DPtr> mrpt::slam::CMultiMetricMap::m_wifiGridMaps

Definition at line 177 of file CMultiMetricMap.h.

mrpt::slam::CMultiMetricMap::TOptions mrpt::slam::CMultiMetricMap::options

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