10 #ifndef CGasConcentrationGridMap2D_H 11 #define CGasConcentrationGridMap2D_H 50 float resolution = 0.1
59 public utils::CLoadableOptions,
60 public TInsertionOptionsCommon
65 void loadFromConfigFile(
67 const std::string §ion);
94 virtual void saveMetricMapRepresentationToFile(
95 const std::string &filNamePrefix
101 virtual void saveAsMatlab3DGraph(
const std::string &filName)
const;
105 virtual void getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &outObj )
const;
109 virtual void getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj )
const;
113 void getWindAs3DObject( mrpt::opengl::CSetOfObjectsPtr &windObj)
const;
118 virtual void increaseUncertainty(
const double STD_increase_value);
122 bool simulateAdvection(
const double &STD_increase_value);
149 std::vector< std::vector< std::vector<TGaussianCell> > > *
table;
156 return &insertionOptions;
167 bool build_Gaussian_Wind_Grid();
169 bool save_Gaussian_Wind_Grid_To_File();
170 bool load_Gaussian_Wind_Grid_From_File();
179 float min_x,max_x,min_y,max_y,resolution;
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
std::string gasSensorLabel
The label of the CObservationGasSensor used to generate the map.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A class for storing images as grayscale or RGB bitmaps.
uint16_t enose_id
id for the enose used to generate this map (must be < gasGrid_count)
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
This class allows loading and storing values and vectors of different types from a configuration text...
Parameters common to any derived class.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
float advectionFreq
Indicates if wind information must be used to simulate Advection.
The contents of each cell in a CRandomFieldGridMap2D map.
uint16_t gasSensorType
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)
mrpt::utils::CDynamicGrid< double > windGrid_module
Gridmaps of the wind Direction/Module.
std::vector< std::vector< std::vector< TGaussianCell > > > * table
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions()
Get the part of the options common to all CRandomFieldGridMap2D classes.
Parameters related with inserting observations into the map:
mrpt::system::TTimeStamp timeLastSimulated
The timestamp of the last time the advection simulation was executed.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
std::string windSensorLabel
The label of the WindSenor used to simulate advection.
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. ...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
float std_windNoise_phi
Frequency for simulating advection (only used to transform wind speed to distance) ...