Detailed Description

A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor).

Important implemented features are:

Insertion of mrpt::slam::CObservationReflectivity observations.
Probability estimation of observations. See base class.
Rendering as 3D object: a 2D textured plane.
Automatic resizing of the map limits when inserting observations close to the border.

Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:

mrSimpleAverage: Each cell only stores the current average value.

Definition at line 66 of file CReflectivityGridMap2D.h.

#include <mrpt/slam/CReflectivityGridMap2D.h>

Inheritance diagram for mrpt::slam::CReflectivityGridMap2D:

[legend]

Classes
struct	TInsertionOptions
	Parameters related with inserting observations into the map. More...

Public Types
typedef int8_t	cell_t
	The type of cells.

typedef detail::logoddscell_traits < int8_t >	traits_t

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

float	cell2float (const int8_t &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

	CReflectivityGridMap2D (float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor.

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

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	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	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::

void	getAsImage (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)

void	loadFromProbabilisticPosesAndObservations (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.

void	loadFromSimpleMap (const CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map.

bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.

bool	insertObservationPtr (const CObservationPtr &obs, const CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version.

double	computeObservationLikelihood (const CObservation *obs, const CPose2D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 2D pose.

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

double	computeObservationsLikelihood (const CSensoryFrame &sf, const CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.

bool	canComputeObservationsLikelihood (const CSensoryFrame &sf)
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

virtual void	computeMatchingWith2D (const CMetricMap otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 2D points map.

virtual void	computeMatchingWith3D (const CMetricMap otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP.

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

virtual float	squareDistanceToClosestCorrespondence (const float &x0, const float &y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

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

virtual CSimplePointsMap *	getAsSimplePointsMap ()

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

CObject *	clone () const
	Cloning interface for smart pointers.

void	setSize (float x_min, float x_max, float y_min, float y_max, float resolution)
	Changes the size of the grid, ERASING all previous contents.

void	fill (const int8_t &value)
	Fills all the cells with the same value.

virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const int8_t &defaultValueNewCells, float additionalMarginMeters=2.0f)
	Changes the size of the grid, maintaining previous contents.

int8_t *	cellByPos (float x, float y)
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

const int8_t *	cellByPos (float x, float y) const
	Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

int8_t *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

const int8_t *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count.

size_t	getSizeY () const
	Returns the vertical size of grid map in cells count.

float	getXMin () const
	Returns the "x" coordinate of left side of grid map.

float	getXMax () const
	Returns the "x" coordinate of right side of grid map.

float	getYMin () const
	Returns the "y" coordinate of top side of grid map.

float	getYMax () const
	Returns the "y" coordinate of bottom side of grid map.

float	getResolution () const
	Returns the resolution of the grid map.

void	saveToTextFile (const std::string &fileName) const

int	x2idx (float x) const
	Transform a coordinate values into cell indexes.

int	x2idx (float x, float x_min) const
	Transform a coordinate value into a cell index, using a diferent "x_min" value.

int	y2idx (float y) const

int	y2idx (float y, float y_min) const

int	xy2idx (float x, float y) const

void	idx2cxcy (const int &idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

float	idx2x (int cx) const
	Transform a cell index into a coordinate value.

float	idx2y (int cy) const

void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix.

Static Public Member Functions
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
mrpt::slam::CReflectivityGridMap2D::TInsertionOptions	insertionOptions

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

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

static const int8_t	CELLTYPE_MIN = -127

static const int8_t	CELLTYPE_MAX = 127

static const int8_t	P2LTABLE_SIZE = CELLTYPE_MAX

static const size_t	LOGODDS_LUT_ENTRIES = 1<<8

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

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

Protected Member Functions
virtual void	internal_clear ()
	Erase all the contents of the map.

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

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object.

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

std::vector< int8_t > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object.

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.

Protected Attributes
std::vector< int8_t >	m_map
	The cells.

float	m_x_min

float	m_x_max

float	m_y_min

float	m_y_max

float	m_resolution

size_t	m_size_x

size_t	m_size_y

Static Protected Attributes
static CLogOddsGridMapLUT< cell_t >	m_logodd_lut
	Lookup tables for log-odds.

RTTI stuff
typedef CReflectivityGridMap2DPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CReflectivityGridMap2D

static mrpt::utils::TRuntimeClassId	classCReflectivityGridMap2D

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 CReflectivityGridMap2DPtr	Create ()

Member Typedef Documentation

typedef int8_t mrpt::slam::CLogOddsGridMap2D< int8_t >::cell_t

inherited

The type of cells.

Definition at line 69 of file CLogOddsGridMap2D.h.

typedef CReflectivityGridMap2DPtr mrpt::slam::CReflectivityGridMap2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 72 of file CReflectivityGridMap2D.h.

typedef detail::logoddscell_traits<int8_t > mrpt::slam::CLogOddsGridMap2D< int8_t >::traits_t

inherited

Definition at line 70 of file CLogOddsGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CReflectivityGridMap2D::CReflectivityGridMap2D	(	float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CReflectivityGridMap2D::_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.

virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood ( const CObservation * obs )

inlinevirtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters

obs	The observation.

See Also: computeObservationLikelihood

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

Definition at line 184 of file CMetricMap.h.

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

inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters

sf	The observations.

See Also: canComputeObservationLikelihood

float mrpt::slam::CReflectivityGridMap2D::cell2float ( const int8_t & c ) const

inlinevirtual

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

Reimplemented from mrpt::utils::CDynamicGrid< int8_t >.

Definition at line 84 of file CReflectivityGridMap2D.h.

int8_t * mrpt::utils::CDynamicGrid< int8_t >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 236 of file CDynamicGrid.h.

const int8_t * mrpt::utils::CDynamicGrid< int8_t >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy
	)		const

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions.

Definition at line 245 of file CDynamicGrid.h.

int8_t * mrpt::utils::CDynamicGrid< int8_t >::cellByPos	(	float	x,
		float	y
	)

inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 210 of file CDynamicGrid.h.

const int8_t * mrpt::utils::CDynamicGrid< int8_t >::cellByPos	(	float	x,
		float	y
	)		const

inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions.

Definition at line 223 of file CDynamicGrid.h.

void mrpt::slam::CReflectivityGridMap2D::clear ( void )

inline

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

Definition at line 82 of file CReflectivityGridMap2D.h.

References mrpt::slam::CMetricMap::clear().

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

float mrpt::slam::CReflectivityGridMap2D::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.

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

inlinevirtualinherited

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

This includes finding:

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

Parameters

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

See Also: compute3DMatchingRatio

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

Definition at line 236 of file CMetricMap.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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::CReflectivityGridMap2D::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)

virtual

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

Parameters

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

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

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

Implements mrpt::slam::CMetricMap.

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

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::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 CReflectivityGridMap2DPtr mrpt::slam::CReflectivityGridMap2D::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CReflectivityGridMap2D::CreateObject ( )

static

virtual mrpt::utils::CObject* mrpt::slam::CReflectivityGridMap2D::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::utils::CDynamicGrid< int8_t >::fill ( const int8_t & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 116 of file CDynamicGrid.h.

void mrpt::slam::CReflectivityGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CReflectivityGridMap2D::getAsImage	(	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)

void mrpt::utils::CDynamicGrid< int8_t >::getAsMatrix ( MAT & m ) const

inlineinherited

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a CMatrixDouble.

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

Note: This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 329 of file CDynamicGrid.h.

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

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.

float mrpt::utils::CDynamicGrid< int8_t >::getResolution ( ) const

inlineinherited

Returns the resolution of the grid map.

Definition at line 278 of file CDynamicGrid.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CReflectivityGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

size_t mrpt::utils::CDynamicGrid< int8_t >::getSizeX ( ) const

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 254 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid< int8_t >::getSizeY ( ) const

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 258 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::getXMax ( ) const

inlineinherited

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

Definition at line 266 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::getXMin ( ) const

inlineinherited

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

Definition at line 262 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::getYMax ( ) const

inlineinherited

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

Definition at line 274 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::getYMin ( ) const

inlineinherited

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

Definition at line 270 of file CDynamicGrid.h.

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.

void mrpt::utils::CDynamicGrid< int8_t >::idx2cxcy	(	const int &	idx,
		int &	cx,
		int &	cy
	)		const

inlineinherited

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

Definition at line 306 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::idx2x ( int cx ) const

inlineinherited

Transform a cell index into a coordinate value.

Definition at line 314 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::idx2y ( int cy ) const

inlineinherited

Definition at line 315 of file CDynamicGrid.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::CReflectivityGridMap2D::internal_clear ( )

protectedvirtual

Erase all the contents of the map.

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CReflectivityGridMap2D::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

protectedvirtual

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters

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

See Also: CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CReflectivityGridMap2D::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.

std::vector<int8_t >& mrpt::utils::CDynamicGrid< int8_t >::m_map_castaway_const ( ) const

inlineprotectedinherited

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

Definition at line 52 of file CDynamicGrid.h.

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::CReflectivityGridMap2D::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.

virtual void mrpt::utils::CDynamicGrid< int8_t >::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const int8_t &	defaultValueNewCells,
		float	additionalMarginMeters = `2.0f`
	)

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See Also: setSize

Definition at line 121 of file CDynamicGrid.h.

void mrpt::slam::CReflectivityGridMap2D::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::utils::CDynamicGrid< int8_t >::saveToTextFile ( const std::string & fileName ) const

inlineinherited

Definition at line 286 of file CDynamicGrid.h.

void mrpt::utils::CDynamicGrid< int8_t >::setSize	(	float	x_min,
		float	x_max,
		float	y_min,
		float	y_max,
		float	resolution
	)

inlineinherited

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

See Also: resize

Definition at line 83 of file CDynamicGrid.h.

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.

static void mrpt::slam::CLogOddsGridMap2D< int8_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< int8_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< int8_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< int8_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::CReflectivityGridMap2D::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::utils::CDynamicGrid< int8_t >::x2idx ( float x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 301 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< int8_t >::x2idx	(	float	x,
		float	x_min
	)		const

inlineinherited

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

Definition at line 319 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< int8_t >::xy2idx	(	float	x,
		float	y
	)		const

inlineinherited

Definition at line 303 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< int8_t >::y2idx ( float y ) const

inlineinherited

Definition at line 302 of file CDynamicGrid.h.

int mrpt::utils::CDynamicGrid< int8_t >::y2idx	(	float	y,
		float	y_min
	)		const

inlineinherited

Definition at line 320 of file CDynamicGrid.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CReflectivityGridMap2D::_init_CReflectivityGridMap2D

staticprotected

Definition at line 72 of file CReflectivityGridMap2D.h.

const int8_t mrpt::slam::detail::logoddscell_traits< int8_t >::CELLTYPE_MAX = 127

staticinherited

Definition at line 45 of file CLogOddsGridMap2D.h.

const int8_t mrpt::slam::detail::logoddscell_traits< int8_t >::CELLTYPE_MIN = -127

staticinherited

Definition at line 44 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::CReflectivityGridMap2D::classCReflectivityGridMap2D

static

Definition at line 72 of file CReflectivityGridMap2D.h.

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

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CReflectivityGridMap2D::classinfo

static

Definition at line 72 of file CReflectivityGridMap2D.h.

mrpt::slam::CReflectivityGridMap2D::TInsertionOptions mrpt::slam::CReflectivityGridMap2D::insertionOptions

const size_t mrpt::slam::detail::logoddscell_traits< int8_t >::LOGODDS_LUT_ENTRIES = 1<<8

staticinherited

Definition at line 47 of file CLogOddsGridMap2D.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.

CLogOddsGridMapLUT<cell_t> mrpt::slam::CReflectivityGridMap2D::m_logodd_lut

staticprotected

Lookup tables for log-odds.

Definition at line 75 of file CReflectivityGridMap2D.h.

std::vector<int8_t > mrpt::utils::CDynamicGrid< int8_t >::m_map

protectedinherited

The cells.

Definition at line 49 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::m_resolution

protectedinherited

Definition at line 55 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid< int8_t >::m_size_x

protectedinherited

Definition at line 56 of file CDynamicGrid.h.

size_t mrpt::utils::CDynamicGrid< int8_t >::m_size_y

protectedinherited

Definition at line 56 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::m_x_max

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::m_x_min

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::m_y_max

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

float mrpt::utils::CDynamicGrid< int8_t >::m_y_min

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

const int8_t mrpt::slam::detail::logoddscell_traits< int8_t >::P2LTABLE_SIZE = CELLTYPE_MAX

staticinherited

Definition at line 46 of file CLogOddsGridMap2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation