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)

Definition at line 92 of file COccupancyGridMap2D.h.

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D:

[legend]

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 int16_t	cell_t
	The type of cells.

typedef detail::logoddscell_traits < int16_t >	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

static const int16_t	CELLTYPE_MIN = -32767

static const int16_t	CELLTYPE_MAX = 32767

static const int16_t	P2LTABLE_SIZE = CELLTYPE_MAX

static const size_t	LOGODDS_LUT_ENTRIES = 1<<16

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCMetricMap

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.

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.

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 -1 if invalid one.

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.

Member Typedef Documentation

typedef int16_t mrpt::slam::CLogOddsGridMap2D< int16_t >::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<int16_t > mrpt::slam::CLogOddsGridMap2D< int16_t >::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 ( )

staticprotected

virtual void mrpt::slam::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

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.

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::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

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::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

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_Consensus	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

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 mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in....

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_MI	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_rayTracing	(	const CObservation *	obs,
		const CPose2D &	takenFrom
	)

protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

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

float mrpt::slam::COccupancyGridMap2D::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.

Returns: This returns '1-mean(traversed cells occupancy)', i.e. 0.5 for unknown cells, 1 for a free path.

static COccupancyGridMap2DPtr mrpt::slam::COccupancyGridMap2D::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::CreateObject ( )

static

int mrpt::slam::COccupancyGridMap2D::direction2idx	(	int	dx,
		int	dy
	)

private

Returns the index [0,7] of the given movement, or -1 if invalid one.

See Also: direccion_vecino_x,direccion_vecino_y,GetNeighborhood

virtual mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::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::COccupancyGridMap2D::fill ( float default_value = 0.5f )

Fills all the cells with a default value.

void mrpt::slam::COccupancyGridMap2D::findCriticalPoints ( float filter_distance )

Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.

Parameters

filter_distance The minimum distance between two critical points.

See Also: buildVoronoiDiagram

void mrpt::slam::COccupancyGridMap2D::freeMap ( )

protected

Frees the dynamic memory buffers of map.

double mrpt::slam::COccupancyGridMap2D::getArea ( ) const

inline

Returns the area of the gridmap, in square meters.

Definition at line 338 of file COccupancyGridMap2D.h.

References mrpt::utils::square().

void mrpt::slam::COccupancyGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.

a value of 0.5 is fully transparent)

Implements mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::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.

See Also: getAsImageFiltered

void mrpt::slam::COccupancyGridMap2D::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.

See Also: getAsImage

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

inlinevirtualinherited

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 ( )

inlinevirtualinherited

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

Definition at line 347 of file CMetricMap.h.

unsigned char mrpt::slam::COccupancyGridMap2D::getBasisCell	(	int	x,
		int	y
	)		const

inline

Reads a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 464 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

const CDynamicGrid<uint8_t>& mrpt::slam::COccupancyGridMap2D::getBasisMap ( ) const

inline

Return the auxiliary "basis" map built while building the Voronoi diagram.

See Also: buildVoronoiDiagram

Definition at line 769 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getCell	(	int	x,
		int	y
	)		const

inline

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 419 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getCell_nocheck	(	int	x,
		int	y
	)		const

inlineprotected

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 183 of file COccupancyGridMap2D.h.

unsigned char mrpt::slam::COccupancyGridMap2D::GetNeighborhood	(	int	cx,
		int	cy
	)		const

inlineprivate

Returns a byte with the occupancy of the 8 sorrounding cells.

Parameters

cx	The cell index
cy	The cell index

See Also: direction2idx

float mrpt::slam::COccupancyGridMap2D::getPos	(	float	x,
		float	y
	)		const

inline

Read the real valued [0,1] contents of a cell, given its coordinates.

Definition at line 441 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getResolution ( ) const

inline

Returns the resolution of the grid map.

Definition at line 366 of file COccupancyGridMap2D.h.

cellType* mrpt::slam::COccupancyGridMap2D::getRow ( int cy )

inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 429 of file COccupancyGridMap2D.h.

const cellType* mrpt::slam::COccupancyGridMap2D::getRow ( int cy ) const

inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 433 of file COccupancyGridMap2D.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

unsigned int mrpt::slam::COccupancyGridMap2D::getSizeX ( ) const

inline

Returns the horizontal size of grid map in cells count.

Definition at line 342 of file COccupancyGridMap2D.h.

unsigned int mrpt::slam::COccupancyGridMap2D::getSizeY ( ) const

inline

Returns the vertical size of grid map in cells count.

Definition at line 346 of file COccupancyGridMap2D.h.

uint16_t mrpt::slam::COccupancyGridMap2D::getVoroniClearance	(	int	cx,
		int	cy
	)		const

inline

Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.

Definition at line 740 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

const CDynamicGrid<uint16_t>& mrpt::slam::COccupancyGridMap2D::getVoronoiDiagram ( ) const

inline

Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.

See Also: buildVoronoiDiagram

Definition at line 772 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getXMax ( ) const

inline

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

Definition at line 354 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getXMin ( ) const

inline

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

Definition at line 350 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getYMax ( ) const

inline

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

Definition at line 362 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getYMin ( ) const

inline

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

Definition at line 358 of file COccupancyGridMap2D.h.

static double mrpt::slam::COccupancyGridMap2D::H ( double p )

staticprotected

Entropy computation internal function:

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.

float mrpt::slam::COccupancyGridMap2D::idx2x ( const size_t cx ) const

inline

Transform a cell index into a coordinate value.

Definition at line 378 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::idx2y ( const size_t cy ) const

inline

Definition at line 379 of file COccupancyGridMap2D.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::COccupancyGridMap2D::internal_clear ( )

protectedvirtual

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).

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::COccupancyGridMap2D::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

protectedvirtual

Insert the observation information into this map.

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)

After successfull execution, "lastObservationInsertionInfo" is updated.

See Also: insertionOptions, CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::COccupancyGridMap2D::isEmpty ( ) const

virtual

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.

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::COccupancyGridMap2D::isStaticCell	(	int	cx,
		int	cy,
		float	threshold = `0.7f`
	)		const

inline

Definition at line 446 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::isStaticPos	(	float	x,
		float	y,
		float	threshold = `0.7f`
	)		const

inline

Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.

Definition at line 445 of file COccupancyGridMap2D.h.

static float mrpt::slam::COccupancyGridMap2D::l2p ( const cellType l )

inlinestatic

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 388 of file COccupancyGridMap2D.h.

References mrpt::slam::CLogOddsGridMapLUT< TCELL >::l2p().

static uint8_t mrpt::slam::COccupancyGridMap2D::l2p_255 ( const cellType l )

inlinestatic

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 395 of file COccupancyGridMap2D.h.

References mrpt::slam::CLogOddsGridMapLUT< TCELL >::l2p_255().

void mrpt::slam::COccupancyGridMap2D::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.

The simulated scan is stored in a CObservation2DRangeScan object, which is also used to pass some parameters: all previously stored characteristics (as aperture,...) are taken into account for simulation. Only a few more parameters are needed. Additive gaussian noise can be optionally added to the simulated scan.

Parameters

inout_Scan	[IN/OUT] This must be filled with desired parameters before calling, and will contain the scan samples on return.
robotPose	[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold	[IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5.
N	[IN] The count of range scan "rays", by default to 361.
noiseStd	[IN] The standard deviation of measurement noise. If not desired, set to 0.
decimation	[IN] The rays that will be simulated are at indexes: 0, D, 2D, 3D, ... Default is D=1
angleNoiseStd	[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).

See Also: sonarSimulator

bool mrpt::slam::COccupancyGridMap2D::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).

Parameters

img	The image. Only a grayscale image will be used, so RGB components will be mixed if a color image is passed.
resolution	The size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
xCentralPixel	The "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
yCentralPixel	The "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.

Returns: False on any error.

See Also: loadFromBitmapFile

bool mrpt::slam::COccupancyGridMap2D::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).

Parameters

file	The file to be loaded.
resolution	The size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
xCentralPixel	The "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
yCentralPixel	The "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.

Returns: False on any error.

See Also: loadFromBitmap

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.

virtual void mrpt::slam::COccupancyGridMap2D::OnPostSuccesfulInsertObs ( const CObservation * )

protectedvirtual

See base class.

Reimplemented from mrpt::slam::CMetricMap.

static cellType mrpt::slam::COccupancyGridMap2D::p2l ( const float p )

inlinestatic

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.

Definition at line 402 of file COccupancyGridMap2D.h.

References mrpt::slam::CLogOddsGridMapLUT< TCELL >::p2l().

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::COccupancyGridMap2D::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::COccupancyGridMap2D::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`
	)

Change the size of gridmap, maintaining previous contents.

Parameters

new_x_min	The "x" coordinates of new left most side of grid.
new_x_max	The "x" coordinates of new right most side of grid.
new_y_min	The "y" coordinates of new top most side of grid.
new_y_max	The "y" coordinates of new bottom most side of grid.
new_cells_default_value	The value of the new cells, tipically 0.5.
additionalMargin	If set to true (default), an additional margin of a few meters will be added to the grid, ONLY if the new coordinates are larger than current ones.

See Also: setSize

bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFile ( const std::string & file ) const

Saves the gridmap as a graphical file (BMP,PNG,...).

The format will be derived from the file extension (see CImage::saveToFile )

Returns: False on any error.

template<class CLANDMARKSMAP >

bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks	(	const std::string &	file,
		const CLANDMARKSMAP *	landmarks,
		bool	addTextLabels = `false`,
		const mrpt::utils::TColor &	marks_color = `mrpt::utils::TColor(0,0,255)`
	)		const

inline

Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.

Note: The template parameter CLANDMARKSMAP is assumed to be mrpt::slam::CLandmarksMap normally.

Returns: False on any error.

Definition at line 929 of file COccupancyGridMap2D.h.

References mrpt::utils::TColor::black, mrpt::format(), MRPT_END, and MRPT_START.

static bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences	(	const std::string &	fileName,
		const COccupancyGridMap2D *	m1,
		const COccupancyGridMap2D *	m2,
		const TMatchingPairList &	corrs
	)

static

Saves a composite image with two gridmaps and lines representing a set of correspondences between them.

See Also: saveAsEMFTwoMapsWithCorrespondences

Returns: False on any error.

static bool mrpt::slam::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences	(	const std::string &	fileName,
		const COccupancyGridMap2D *	m1,
		const COccupancyGridMap2D *	m2,
		const TMatchingPairList &	corrs
	)

static

Saves a composite image with two gridmaps and numbers for the correspondences between them.

See Also: saveAsBitmapTwoMapsWithCorrespondences

Returns: False on any error.

void mrpt::slam::COccupancyGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

virtual

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).

Implements mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::setBasisCell	(	int	x,
		int	y,
		uint8_t	value
	)

inline

Change a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 450 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

void mrpt::slam::COccupancyGridMap2D::setCell	(	int	x,
		int	y,
		float	value
	)

inline

Change the contents [0,1] of a cell, given its index.

Definition at line 409 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setCell_nocheck	(	int	x,
		int	y,
		float	value
	)

inlineprotected

Change the contents [0,1] of a cell, given its index.

Definition at line 176 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setPos	(	float	x,
		float	y,
		float	value
	)

inline

Change the contents [0,1] of a cell, given its coordinates.

Definition at line 437 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setRawCell	(	unsigned int	cellIndex,
		cellType	b
	)

inlineprotected

Changes a cell by its absolute index (Do not use it normally)

Definition at line 190 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::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.

Parameters

x_min	The "x" coordinates of left most side of grid.
x_max	The "x" coordinates of right most side of grid.
y_min	The "y" coordinates of top most side of grid.
y_max	The "y" coordinates of bottom most side of grid.
resolution	The new size of cells.
default_value	The value of cells, tipically 0.5.

See Also: ResizeGrid

void mrpt::slam::COccupancyGridMap2D::setVoroniClearance	(	int	cx,
		int	cy,
		uint16_t	dist
	)

inlineprotected

Used to set the clearance of a cell, while building the Voronoi diagram.

Definition at line 754 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

void mrpt::slam::COccupancyGridMap2D::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

inline

Simulate just one "ray" in the grid map.

This method is used internally to sonarSimulator and laserScanSimulator.

void mrpt::slam::COccupancyGridMap2D::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.

The simulated ranges are stored in a CObservationRange object, which is also used to pass in some needed parameters, as the poses of the sonar sensors onto the mobile robot.

Parameters

inout_observation	[IN/OUT] This must be filled with desired parameters before calling, and will contain the simulated ranges on return.
robotPose	[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold	[IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5.
rangeNoiseStd	[IN] The standard deviation of measurement noise. If not desired, set to 0.
angleNoiseStd	[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).

See Also: laserScanSimulator

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::COccupancyGridMap2D::subSample ( int downRatio )

Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.

void mrpt::slam::COccupancyGridMap2D::updateCell	(	int	x,
		int	y,
		float	v
	)

Performs the Bayesian fusion of a new observation of a cell.

See Also: updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free

static void mrpt::slam::CLogOddsGridMap2D< int16_t >::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
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See Also: updateCell_fast_occupied

Definition at line 119 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D< int16_t >::updateCell_fast_free	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See Also: updateCell_fast_occupied

Definition at line 141 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D< int16_t >::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
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See Also: updateCell, updateCell_fast_free

Definition at line 80 of file CLogOddsGridMap2D.h.

static void mrpt::slam::CLogOddsGridMap2D< int16_t >::updateCell_fast_occupied	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See Also: updateCell, updateCell_fast_free

Definition at line 101 of file CLogOddsGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::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.

int mrpt::slam::COccupancyGridMap2D::x2idx ( float x ) const

inline

Transform a coordinate value into a cell index.

Definition at line 370 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::x2idx ( double x ) const

inline

Definition at line 373 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::x2idx	(	float	x,
		float	x_min
	)		const

inline

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

Definition at line 383 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx ( float y ) const

inline

Definition at line 371 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx ( double y ) const

inline

Definition at line 374 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx	(	float	y,
		float	y_min
	)		const

inline

Definition at line 384 of file COccupancyGridMap2D.h.

Friends And Related Function Documentation

friend class CMultiMetricMap

friend

Definition at line 121 of file COccupancyGridMap2D.h.

friend class CMultiMetricMapPDF

friend

Definition at line 122 of file COccupancyGridMap2D.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::COccupancyGridMap2D::_init_COccupancyGridMap2D

staticprotected

Definition at line 102 of file COccupancyGridMap2D.h.

const int16_t mrpt::slam::detail::logoddscell_traits< int16_t >::CELLTYPE_MAX = 32767

staticinherited

Definition at line 52 of file CLogOddsGridMap2D.h.

const int16_t mrpt::slam::detail::logoddscell_traits< int16_t >::CELLTYPE_MIN = -32767

staticinherited

Definition at line 51 of file CLogOddsGridMap2D.h.

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

staticinherited

Definition at line 81 of file CMetricMap.h.

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

staticinherited

Definition at line 139 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::slam::COccupancyGridMap2D::classCOccupancyGridMap2D

static

Definition at line 102 of file COccupancyGridMap2D.h.

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

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::classinfo

static

Definition at line 102 of file COccupancyGridMap2D.h.

struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TCriticalPointsList mrpt::slam::COccupancyGridMap2D::CriticalPointsList

int mrpt::slam::COccupancyGridMap2D::direccion_vecino_x[8]

private

Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.

See Also: direction2idx

Definition at line 1071 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::direccion_vecino_y[8]

private

Definition at line 1071 of file COccupancyGridMap2D.h.

std::vector<float> mrpt::slam::COccupancyGridMap2D::entropyTable

staticprotected

Internally used to speed-up entropy calculation.

Definition at line 200 of file COccupancyGridMap2D.h.

TInsertionOptions mrpt::slam::COccupancyGridMap2D::insertionOptions

With this struct options are provided to the observation insertion process.

See Also: CObservation::insertIntoGridMap

Definition at line 580 of file COccupancyGridMap2D.h.

mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions mrpt::slam::COccupancyGridMap2D::likelihoodOptions

class mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput mrpt::slam::COccupancyGridMap2D::likelihoodOutputs

const size_t mrpt::slam::detail::logoddscell_traits< int16_t >::LOGODDS_LUT_ENTRIES = 1<<16

staticinherited

Definition at line 54 of file CLogOddsGridMap2D.h.

CDynamicGrid<uint8_t> mrpt::slam::COccupancyGridMap2D::m_basis_map

protected

Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.

Definition at line 150 of file COccupancyGridMap2D.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.

bool mrpt::slam::COccupancyGridMap2D::m_is_empty

protected

True upon construction; used by isEmpty()

Definition at line 158 of file COccupancyGridMap2D.h.

CLogOddsGridMapLUT<cellType> mrpt::slam::COccupancyGridMap2D::m_logodd_lut

staticprotected

Lookup tables for log-odds.

Definition at line 124 of file COccupancyGridMap2D.h.

CDynamicGrid<uint16_t> mrpt::slam::COccupancyGridMap2D::m_voronoi_diagram

protected

Used to store the Voronoi diagram.

Contains the distance of each cell to its closer obstacles in 1/100th distance units (i.e. in centimeters), or 0 if not into the Voronoi diagram.

Definition at line 156 of file COccupancyGridMap2D.h.

std::vector<cellType> mrpt::slam::COccupancyGridMap2D::map

protected

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.

Definition at line 130 of file COccupancyGridMap2D.h.

const cellType mrpt::slam::COccupancyGridMap2D::OCCGRID_CELLTYPE_MAX = CLogOddsGridMap2D<cellType>::CELLTYPE_MAX

static

Definition at line 116 of file COccupancyGridMap2D.h.

const cellType mrpt::slam::COccupancyGridMap2D::OCCGRID_CELLTYPE_MIN = CLogOddsGridMap2D<cellType>::CELLTYPE_MIN

static

Discrete to float conversion factors: The min/max values of the integer cell type, eg.

[0,255] or [0,65535]

Definition at line 115 of file COccupancyGridMap2D.h.

const cellType mrpt::slam::COccupancyGridMap2D::OCCGRID_P2LTABLE_SIZE = CLogOddsGridMap2D<cellType>::P2LTABLE_SIZE

static

Definition at line 117 of file COccupancyGridMap2D.h.

const int16_t mrpt::slam::detail::logoddscell_traits< int16_t >::P2LTABLE_SIZE = CELLTYPE_MAX

staticinherited

Definition at line 53 of file CLogOddsGridMap2D.h.

std::vector<double> mrpt::slam::COccupancyGridMap2D::precomputedLikelihood

protected

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).

Definition at line 146 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::precomputedLikelihoodToBeRecomputed

protected

Definition at line 147 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::resolution

protected

Cell size, i.e.

resolution of the grid map.

Definition at line 142 of file COccupancyGridMap2D.h.

uint32_t mrpt::slam::COccupancyGridMap2D::size_x

protected

The size of the grid in cells.

Definition at line 134 of file COccupancyGridMap2D.h.

uint32_t mrpt::slam::COccupancyGridMap2D::size_y

protected

Definition at line 134 of file COccupancyGridMap2D.h.

struct MAPS_IMPEXP mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly mrpt::slam::COccupancyGridMap2D::updateInfoChangeOnly

float mrpt::slam::COccupancyGridMap2D::voroni_free_threshold

protected

The free-cells threshold used to compute the Voronoi diagram.

Definition at line 164 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::x_max

protected

Definition at line 138 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::x_min

protected

The limits of the grid in "units" (meters).

Definition at line 138 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::y_max

protected

Definition at line 138 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::y_min

protected

Definition at line 138 of file COccupancyGridMap2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Private Attributes

Friends

RTTI stuff

Voronoi methods

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation