Detailed Description

CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell).

There are a number of methods available to build the gas grid-map, depending on the value of "TMapRepresentation maptype" passed in the constructor.

The following papers describe the mapping alternatives implemented here:

mrKernelDM: A kernel-based method: "Building gas concentration gridmaps with a mobile robot", Lilienthal, A. and Duckett, T., Robotics and Autonomous Systems, v.48, 2004.

mrKernelDMV: A kernel-based method: "A Statistical Approach to Gas Distribution Modelling with Mobile Robots–The Kernel DM+ V Algorithm" , Lilienthal, A.J. and Reggente, M. and Trincavelli, M. and Blanco, J.L. and Gonzalez, J., IROS 2009.

Note that this class is virtual, since derived classes still have to implement:

mrpt::slam::CMetricMap::computeObservationLikelihood()
mrpt::slam::CMetricMap::internal_insertObservation()
Serialization methods: writeToStream() and readFromStream()

See Also: mrpt::slam::CGasConcentrationGridMap2D, mrpt::slam::CWirelessPowerGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap

Definition at line 117 of file CRandomFieldGridMap2D.h.

#include <mrpt/slam/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::slam::CRandomFieldGridMap2D:

[legend]

Classes
struct	TInsertionOptionsCommon
	Parameters common to any derived class. More...

Public Types
enum	TMapRepresentation { mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKernelDMV }
	The type of map representation to be used. More...

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 TRandomFieldCell &c) const

	CRandomFieldGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor.

virtual	~CRandomFieldGridMap2D ()
	Destructor.

virtual bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes)

virtual void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,...).

virtual void	getAsBitmapFile (mrpt::utils::CImage &out_img) const
	Returns an image just as described in saveAsBitmapFile.

virtual void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const TRandomFieldCell &defaultValueNewCells, float additionalMarginMeters=1.0f)
	Changes the size of the grid, maintaining previous contents.

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.

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

virtual void	saveAsMatlab3DGraph (const std::string &filName) const
	Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

void	getAsMatlab3DGraphScript (std::string &out_script) const
	Return a large text block with a MATLAB script to plot the contents of this map.

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

virtual void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const
	Returns two 3D objects representing the mean and variance maps.

TMapRepresentation	getMapType ()
	Return the type of the random-field grid map, according to parameters passed on construction.

virtual void	predictMeasurement (const double &x, const double &y, double &out_predict_response, double &out_predict_response_variance)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

void	getMeanAndCov (vector_double &out_means, CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

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.

virtual double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)=0
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

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 ()

virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class.

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 TRandomFieldCell &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 TRandomFieldCell &defaultValueNewCells, float additionalMarginMeters=2.0f)
	Changes the size of the grid, maintaining previous contents.

TRandomFieldCell *	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 TRandomFieldCell *	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.

TRandomFieldCell *	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 TRandomFieldCell *	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.

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

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.

Public Attributes
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 CRandomFieldGridMap2D::TInsertionOptionsCommon *	getCommonInsertOptions ()=0
	Get the part of the options common to all CRandomFieldGridMap2D classes.

void	insertObservation_KernelDM_DMV (float normReading, const CPose3D &sensorPose, bool is_DMV)
	The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.

void	insertObservation_KF (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model.

void	insertObservation_KF2 (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model.

double	computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the average cell concentration, or the overall average value if it has never been observed.

double	computeVarCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.

void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

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

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.

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

Protected Attributes
TInsertionOptionsCommon *	m_insertOptions_common
	Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class.

TMapRepresentation	m_mapType
	The map representation type of this map, as passed in the constructor.

CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation.

CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation.

bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation.

std::vector< TRandomFieldCell >	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

Auxiliary vars for DM & DM+V methods
float	m_DM_lastCutOff

std::vector< float >	m_DM_gaussWindow

double	m_average_normreadings_mean

double	m_average_normreadings_var

size_t	m_average_normreadings_count

Private Types
typedef utils::CDynamicGrid < TRandomFieldCell >	BASE

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRandomFieldGridMap2D

class	mrpt::utils::CStream

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

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.

Member Typedef Documentation

typedef utils::CDynamicGrid<TRandomFieldCell> mrpt::slam::CRandomFieldGridMap2D::BASE

private

Definition at line 119 of file CRandomFieldGridMap2D.h.

Member Enumeration Documentation

enum mrpt::slam::CRandomFieldGridMap2D::TMapRepresentation

The type of map representation to be used.

Enumerator
mrKernelDM
mrAchim
mrKalmanFilter
mrKalmanApproximate
mrKernelDMV

Definition at line 138 of file CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CRandomFieldGridMap2D::CRandomFieldGridMap2D	(	TMapRepresentation	mapType = `mrAchim`,
		float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

virtual mrpt::slam::CRandomFieldGridMap2D::~CRandomFieldGridMap2D ( )

virtual

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CRandomFieldGridMap2D::_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::CRandomFieldGridMap2D::cell2float ( const TRandomFieldCell & c ) const

inline

Definition at line 131 of file CRandomFieldGridMap2D.h.

References mrpt::slam::TRandomFieldCell::kf_mean.

virtual float mrpt::utils::CDynamicGrid< TRandomFieldCell >::cell2float ( const TRandomFieldCell & c ) const

inlinevirtualinherited

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

Definition at line 281 of file CDynamicGrid.h.

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::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 TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::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.

TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::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 TRandomFieldCell * mrpt::utils::CDynamicGrid< TRandomFieldCell >::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::CRandomFieldGridMap2D::clear ( void )

inline

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

Definition at line 128 of file CRandomFieldGridMap2D.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::CRandomFieldGridMap2D::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::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell * cell ) const

protected

Computes the average cell concentration, or the overall average value if it has never been observed.

virtual double mrpt::slam::CMetricMap::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)

pure virtualinherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D 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

Implemented in mrpt::slam::COccupancyGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CLandmarksMap, mrpt::slam::CBeaconMap, mrpt::slam::CMultiMetricMap, mrpt::slam::CHeightGridMap2D, mrpt::slam::CReflectivityGridMap2D, mrpt::slam::CWirelessPowerGridMap2D, and mrpt::slam::CGasConcentrationGridMap2D.

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

double mrpt::slam::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV ( const TRandomFieldCell * cell ) const

protected

Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.

virtual CObject* mrpt::utils::CObject::duplicate ( ) const

pure virtualinherited

Returns a copy of the object, indepently of its class.

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< TRandomFieldCell >::fill ( const TRandomFieldCell & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 116 of file CDynamicGrid.h.

References fill().

virtual void mrpt::slam::CRandomFieldGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

virtual

Returns a 3D object representing the map (mean).

Implements mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

virtual void mrpt::slam::CRandomFieldGridMap2D::getAs3DObject	(	mrpt::opengl::CSetOfObjectsPtr &	meanObj,
		mrpt::opengl::CSetOfObjectsPtr &	varObj
	)		const

virtual

Returns two 3D objects representing the mean and variance maps.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D.

virtual void mrpt::slam::CRandomFieldGridMap2D::getAsBitmapFile ( mrpt::utils::CImage & out_img ) const

virtual

Returns an image just as described in saveAsBitmapFile.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

void mrpt::slam::CRandomFieldGridMap2D::getAsMatlab3DGraphScript ( std::string & out_script ) const

Return a large text block with a MATLAB script to plot the contents of this map.

See Also: saveAsMatlab3DGraph This method can only be called in a KF map model.

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::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.

virtual CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::slam::CRandomFieldGridMap2D::getCommonInsertOptions ( )

protectedpure virtual

Get the part of the options common to all CRandomFieldGridMap2D classes.

Implemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

TMapRepresentation mrpt::slam::CRandomFieldGridMap2D::getMapType ( )

Return the type of the random-field grid map, according to parameters passed on construction.

void mrpt::slam::CRandomFieldGridMap2D::getMeanAndCov	(	vector_double &	out_means,
		CMatrixDouble &	out_cov
	)		const

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

float mrpt::utils::CDynamicGrid< TRandomFieldCell >::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::CRandomFieldGridMap2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CWirelessPowerGridMap2D, and mrpt::slam::CGasConcentrationGridMap2D.

size_t mrpt::utils::CDynamicGrid< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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< TRandomFieldCell >::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.

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV	(	float	normReading,
		const CPose3D &	sensorPose,
		bool	is_DMV
	)

protected

The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.

Parameters

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose on the robot
is_DMV	= false -> map type is Kernel DM; true -> map type is DM+V

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KF	(	float	normReading,
		const CPose3D &	sensorPose
	)

protected

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose

void mrpt::slam::CRandomFieldGridMap2D::insertObservation_KF2	(	float	normReading,
		const CPose3D &	sensorPose
	)

protected

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
sensorPose	Is the sensor pose

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::CRandomFieldGridMap2D::internal_clear ( )

protectedvirtual

Erase all the contents of the map.

Implements mrpt::slam::CMetricMap.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

virtual bool mrpt::slam::CRandomFieldGridMap2D::isEmpty ( ) const

virtual

Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes)

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<TRandomFieldCell >& mrpt::utils::CDynamicGrid< TRandomFieldCell >::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.

virtual void mrpt::slam::CRandomFieldGridMap2D::predictMeasurement	(	const double &	x,
		const double &	y,
		double &	out_predict_response,
		double &	out_predict_response_variance
	)

virtual

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

This methods is implemented differently for the different gas map types.

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.

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

protectedpure virtualinherited

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

void mrpt::slam::CRandomFieldGridMap2D::recoverMeanAndCov ( ) const

protected

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See Also: m_hasToRecoverMeanAndCov

virtual void mrpt::utils::CDynamicGrid< TRandomFieldCell >::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const TRandomFieldCell &	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.

References MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, and mrpt::utils::round().

virtual void mrpt::slam::CRandomFieldGridMap2D::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const TRandomFieldCell &	defaultValueNewCells,
		float	additionalMarginMeters = `1.0f`
	)

virtual

Changes the size of the grid, maintaining previous contents.

See Also: setSize

virtual void mrpt::slam::CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string & filName ) const

virtual

Save the current map as a graphical file (BMP,PNG,...).

The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $\sum{\frac{wR}{w}}$ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell.

See Also: getAsBitmapFile()

virtual void mrpt::slam::CRandomFieldGridMap2D::saveAsMatlab3DGraph ( const std::string & filName ) const

virtual

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

This method can only be called in a KF map model.

See Also: getAsMatlab3DGraphScript

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

virtual void mrpt::slam::CRandomFieldGridMap2D::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.

Reimplemented in mrpt::slam::CGasConcentrationGridMap2D, and mrpt::slam::CWirelessPowerGridMap2D.

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::saveToTextFile ( const std::string & fileName ) const

inlineinherited

Definition at line 286 of file CDynamicGrid.h.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::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.

References mrpt::utils::round().

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.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

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

int mrpt::utils::CDynamicGrid< TRandomFieldCell >::x2idx ( float x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 301 of file CDynamicGrid.h.

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

inlineinherited

Definition at line 303 of file CDynamicGrid.h.

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

inlineinherited

Definition at line 302 of file CDynamicGrid.h.

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

inlineinherited

Definition at line 320 of file CDynamicGrid.h.

Friends And Related Function Documentation

friend class mrpt::utils::CStream

friend

Definition at line 122 of file CRandomFieldGridMap2D.h.

Member Data Documentation

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::slam::CRandomFieldGridMap2D::classCRandomFieldGridMap2D

static

Definition at line 122 of file CRandomFieldGridMap2D.h.

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

staticinherited

Definition at line 56 of file CSerializable.h.

size_t mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_count

protected

Definition at line 307 of file CRandomFieldGridMap2D.h.

double mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_mean

protected

Definition at line 306 of file CRandomFieldGridMap2D.h.

double mrpt::slam::CRandomFieldGridMap2D::m_average_normreadings_var

protected

Definition at line 306 of file CRandomFieldGridMap2D.h.

CMatrixD mrpt::slam::CRandomFieldGridMap2D::m_cov

protected

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 293 of file CRandomFieldGridMap2D.h.

bool mrpt::slam::CMetricMap::m_disableSaveAs3DObject

inherited

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

Definition at line 321 of file CMetricMap.h.

std::vector<float> mrpt::slam::CRandomFieldGridMap2D::m_DM_gaussWindow

protected

Definition at line 305 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::m_DM_lastCutOff

protected

Definition at line 304 of file CRandomFieldGridMap2D.h.

bool mrpt::slam::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov

mutableprotected

Only for the KF2 implementation.

Definition at line 300 of file CRandomFieldGridMap2D.h.

TInsertionOptionsCommon* mrpt::slam::CRandomFieldGridMap2D::m_insertOptions_common

protected

Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class.

Definition at line 285 of file CRandomFieldGridMap2D.h.

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

protectedinherited

The cells.

Definition at line 49 of file CDynamicGrid.h.

TMapRepresentation mrpt::slam::CRandomFieldGridMap2D::m_mapType

protected

The map representation type of this map, as passed in the constructor.

Definition at line 291 of file CRandomFieldGridMap2D.h.

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

protectedinherited

Definition at line 55 of file CDynamicGrid.h.

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

protectedinherited

Definition at line 56 of file CDynamicGrid.h.

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

protectedinherited

Definition at line 56 of file CDynamicGrid.h.

CMatrixD mrpt::slam::CRandomFieldGridMap2D::m_stackedCov

protected

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 299 of file CRandomFieldGridMap2D.h.

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

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

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

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

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

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

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

protectedinherited

Definition at line 54 of file CDynamicGrid.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Types

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation