Detailed Description

A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).

The individual beacons are defined as mrpt::slam::CBeacon objects.
When invoking CBeaconMap::insertObservation(), landmarks will be extracted and fused into the map. The only currently supported observation type is mrpt::slam::CObservationBeaconRanges. See insertionOptions and likelihoodOptions for parameters used when creating and fusing beacon landmarks.
Use "TInsertionOptions::insertAsMonteCarlo" to select between 2 different behaviors:

Initial PDF of beacons: MonteCarlo, after convergence, pass to Gaussians; or
Initial PDF of beacons: SOG, after convergence, a single Gaussian.

Refer to the papers: []

See Also: CMetricMap

Definition at line 69 of file CBeaconMap.h.

#include <mrpt/slam/CBeaconMap.h>

Inheritance diagram for mrpt::slam::CBeaconMap:

[legend]

Classes
struct	TInsertionOptions
	This struct contains data for choosing the method by which new beacons are inserted in the map. More...

struct	TLikelihoodOptions
	With this struct options are provided to the likelihood computations. More...

Public Types
typedef std::deque< CBeacon >	TSequenceBeacons

typedef std::deque< CBeacon > ::iterator	iterator

typedef std::deque< CBeacon > ::const_iterator	const_iterator

Public Member Functions
	CBeaconMap ()
	Constructor.

void	resize (const size_t N)
	Resize the number of SOG modes.

const CBeacon &	operator[] (size_t i) const
	Access to individual beacons.

const CBeacon &	get (size_t i) const
	Access to individual beacons.

CBeacon &	operator[] (size_t i)
	Access to individual beacons.

CBeacon &	get (size_t i)
	Access to individual beacons.

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

void	push_back (const CBeacon &m)
	Inserts a copy of the given mode into the SOG.

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.

bool	saveToMATLABScript3D (std::string file, const char *style="b", float confInterval=0.95f) const
	Save to a MATLAB script which displays 3D error ellipses for the map.

size_t	size () const
	Returns the stored landmarks count.

double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map.

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

void	computeMatchingWith3DLandmarks (const mrpt::slam::CBeaconMap *otherMap, TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const
	Perform a search for correspondences between "this" and another lansmarks map: Firsly, the landmarks' descriptor is used to find correspondences, then inconsistent ones removed by looking at their 3D poses.

void	changeCoordinatesReference (const CPose3D &newOrg)
	Changes the reference system of the map to a given 3D pose.

void	changeCoordinatesReference (const CPose3D &newOrg, const mrpt::slam::CBeaconMap *otherMap)
	Changes the reference system of the map "otherMap" and save the result in "this" map.

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

void	simulateBeaconReadings (const CPose3D &in_robotPose, const CPoint3D &in_sensorLocationOnRobot, CObservationBeaconRanges &out_Observations) const
	Simulates a reading toward each of the beacons in the landmarks map, if any.

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	saveToTextFile (const std::string &fil) const
	Save a text file with a row per beacon, containing this 11 elements:

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

const CBeacon *	getBeaconByID (CBeacon::TBeaconID id) const
	Returns a pointer to the beacon with the given ID, or NULL if it does not exist.

CBeacon *	getBeaconByID (CBeacon::TBeaconID id)
	Returns a pointer to the beacon with the given ID, or NULL if it does not exist.

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.

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	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.

Public Attributes
mrpt::slam::CBeaconMap::TLikelihoodOptions	likelihoodOptions

mrpt::slam::CBeaconMap::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

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

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

Protected Member Functions
virtual void	internal_clear ()
	Clear the map, erasing all landmarks.

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.

Protected Attributes
TSequenceBeacons	m_beacons
	The individual beacons.

RTTI stuff
typedef CBeaconMapPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CBeaconMap

static mrpt::utils::TRuntimeClassId	classCBeaconMap

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 CBeaconMapPtr	Create ()

Member Typedef Documentation

typedef std::deque<CBeacon>::const_iterator mrpt::slam::CBeaconMap::const_iterator

Definition at line 77 of file CBeaconMap.h.

typedef std::deque<CBeacon>::iterator mrpt::slam::CBeaconMap::iterator

Definition at line 76 of file CBeaconMap.h.

typedef CBeaconMapPtr mrpt::slam::CBeaconMap::SmartPtr

A typedef for the associated smart pointer

Definition at line 72 of file CBeaconMap.h.

typedef std::deque<CBeacon> mrpt::slam::CBeaconMap::TSequenceBeacons

Definition at line 75 of file CBeaconMap.h.

Constructor & Destructor Documentation

mrpt::slam::CBeaconMap::CBeaconMap ( )

Constructor.

Member Function Documentation

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

iterator mrpt::slam::CBeaconMap::begin ( )

inline

Definition at line 123 of file CBeaconMap.h.

const_iterator mrpt::slam::CBeaconMap::begin ( ) const

inline

Definition at line 124 of file CBeaconMap.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

void mrpt::slam::CBeaconMap::changeCoordinatesReference ( const CPose3D & newOrg )

Changes the reference system of the map to a given 3D pose.

void mrpt::slam::CBeaconMap::changeCoordinatesReference	(	const CPose3D &	newOrg,
		const mrpt::slam::CBeaconMap *	otherMap
	)

Changes the reference system of the map "otherMap" and save the result in "this" map.

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

virtual

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
minDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
minMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns: The matching ratio [0,1]

See Also: computeMatchingWith2D

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CBeaconMap::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

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.
covariance	[OUT] The resulting matching covariance 3x3 matrix, or NULL if undesired.
onlyKeepTheClosest	[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.

See Also: compute3DMatchingRatio

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.

void mrpt::slam::CBeaconMap::computeMatchingWith3DLandmarks	(	const mrpt::slam::CBeaconMap *	otherMap,
		TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		std::vector< bool > &	otherCorrespondences
	)		const

Perform a search for correspondences between "this" and another lansmarks map: Firsly, the landmarks' descriptor is used to find correspondences, then inconsistent ones removed by looking at their 3D poses.

Parameters

otherMap	[IN] The other map.
correspondences	[OUT] The matched pairs between maps.
correspondencesRatio	[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap
otherCorrespondences	[OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence.

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

virtual

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

In the current implementation, this method behaves in a different way according to the nature of the observation's class:

"mrpt::slam::CObservation2DRangeScan": This calls "computeLikelihood_RSLC_2007".
"mrpt::slam::CObservationStereoImages": This calls "computeLikelihood_SIFT_LandmarkMap".

Parameters

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

Returns: This method returns a likelihood value > 0.

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

Implements mrpt::slam::CMetricMap.

double mrpt::slam::CMetricMap::computeObservationsLikelihood	(	const CSensoryFrame &	sf,
		const CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::slam::CSensoryFrame.

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See Also: canComputeObservationsLikelihood

static CBeaconMapPtr mrpt::slam::CBeaconMap::Create ( )

static

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

static

virtual mrpt::utils::CObject* mrpt::slam::CBeaconMap::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.

iterator mrpt::slam::CBeaconMap::end ( )

inline

Definition at line 125 of file CBeaconMap.h.

const_iterator mrpt::slam::CBeaconMap::end ( ) const

inline

Definition at line 126 of file CBeaconMap.h.

const CBeacon& mrpt::slam::CBeaconMap::get ( size_t i ) const

inline

Access to individual beacons.

Definition at line 108 of file CBeaconMap.h.

References ASSERT_.

CBeacon& mrpt::slam::CBeaconMap::get ( size_t i )

inline

Access to individual beacons.

Definition at line 118 of file CBeaconMap.h.

References ASSERT_.

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

virtual

Returns a 3D object representing the map.

Implements mrpt::slam::CMetricMap.

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.

const CBeacon* mrpt::slam::CBeaconMap::getBeaconByID ( CBeacon::TBeaconID id ) const

Returns a pointer to the beacon with the given ID, or NULL if it does not exist.

CBeacon* mrpt::slam::CBeaconMap::getBeaconByID ( CBeacon::TBeaconID id )

Returns a pointer to the beacon with the given ID, or NULL if it does not exist.

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

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

inlineprotectedinherited

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

Definition at line 69 of file CObservable.h.

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

inlineinherited

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters

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

See Also: CObservation::insertObservationInto

Definition at line 133 of file CMetricMap.h.

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

inlineinherited

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

Definition at line 147 of file CMetricMap.h.

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

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

protectedvirtual

Clear the map, erasing all landmarks.

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CBeaconMap::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::CBeaconMap::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.

const CBeacon& mrpt::slam::CBeaconMap::operator[] ( size_t i ) const

inline

Access to individual beacons.

Definition at line 103 of file CBeaconMap.h.

References ASSERT_.

CBeacon& mrpt::slam::CBeaconMap::operator[] ( size_t i )

inline

Access to individual beacons.

Definition at line 113 of file CBeaconMap.h.

References ASSERT_.

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::CBeaconMap::push_back ( const CBeacon & m )

inline

Inserts a copy of the given mode into the SOG.

Definition at line 129 of file CBeaconMap.h.

void mrpt::slam::CBeaconMap::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::CBeaconMap::resize ( const size_t N )

Resize the number of SOG modes.

void mrpt::slam::CBeaconMap::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).

In the case of this class, these files are generated:

"filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.
"filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D.
"filNamePrefix"+"_covs.m": A textual representation (see saveToTextFile)

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CBeaconMap::saveToMATLABScript3D	(	std::string	file,
		const char *	style = `"b"`,
		float	confInterval = `0.95f`
	)		const

Save to a MATLAB script which displays 3D error ellipses for the map.

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities)
stdCount	The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)

Returns: Returns false if any error occured, true elsewere.

void mrpt::slam::CBeaconMap::saveToTextFile ( const std::string & fil ) const

Save a text file with a row per beacon, containing this 11 elements:

X Y Z: Mean values
VX VY VZ: Variances of each dimension (C11, C22, C33)
DET2D DET3D: Determinant of the 2D and 3D covariance matrixes.
C12, C13, C23: Cross covariances

void mrpt::slam::CBeaconMap::simulateBeaconReadings	(	const CPose3D &	in_robotPose,
		const CPoint3D &	in_sensorLocationOnRobot,
		CObservationBeaconRanges &	out_Observations
	)		const

Simulates a reading toward each of the beacons in the landmarks map, if any.

Parameters

in_robotPose	This robot pose is used to simulate the ranges to each beacon.
in_sensorLocationOnRobot	The 3D position of the sensor on the robot
out_Observations	The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.

size_t mrpt::slam::CBeaconMap::size ( ) const

Returns the stored landmarks count.

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::CBeaconMap::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CBeaconMap::_init_CBeaconMap

staticprotected

Definition at line 72 of file CBeaconMap.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CBeaconMap::classCBeaconMap

static

Definition at line 72 of file CBeaconMap.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.

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

staticinherited

Definition at line 56 of file CSerializable.h.

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

static

Definition at line 72 of file CBeaconMap.h.

mrpt::slam::CBeaconMap::TInsertionOptions mrpt::slam::CBeaconMap::insertionOptions

mrpt::slam::CBeaconMap::TLikelihoodOptions mrpt::slam::CBeaconMap::likelihoodOptions

TSequenceBeacons mrpt::slam::CBeaconMap::m_beacons

protected

The individual beacons.

Definition at line 81 of file CBeaconMap.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.

Detailed Description

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