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mrpt::maps::CReflectivityGridMap2D Class Reference

Detailed Description

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

Important implemented features are:

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

Definition at line 41 of file maps/CReflectivityGridMap2D.h.

#include <mrpt/maps/CReflectivityGridMap2D.h>

Inheritance diagram for mrpt::maps::CReflectivityGridMap2D:
Inheritance graph

Classes

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

Public Types

typedef int8_t cell_t
 The type of cells. More...
 
typedef detail::logoddscell_traits< int8_t > traits_t
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void clear ()
 Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...
 
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. More...
 
 CReflectivityGridMap2D (float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
 Constructor. More...
 
bool isEmpty () const
 Returns true if the map is empty/no observation has been inserted. More...
 
float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorr=0.10f, float maxMahaDistForCorr=2.0f) const
 See docs in base class: in this class this always returns 0. More...
 
void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
 The implementation in this class just calls all the corresponding method of the contained metric maps. More...
 
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:: More...
 
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) More...
 
void loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
void loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
bool insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation *obs)
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs)
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf)
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
virtual void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
virtual const mrpt::maps::CSimplePointsMapgetAsSimplePointsMap () 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. More...
 
virtual mrpt::maps::CSimplePointsMapgetAsSimplePointsMap ()
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
void setSize (const float x_min, const float x_max, const float y_min, const float y_max, const float resolution, const int8_t *fill_value=NULL)
 Changes the size of the grid, ERASING all previous contents. More...
 
void fill (const int8_t &value)
 Fills all the cells with the same value. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 
size_t getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
size_t getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
float getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
float getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
float getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
float getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
float getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (float x) const
 Transform a coordinate values into cell indexes. More...
 
int x2idx (float x, float x_min) const
 Transform a coordinate value into a cell index, using a diferent "x_min" value. More...
 
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. More...
 
float idx2x (int cx) const
 Transform a cell index into a coordinate value. More...
 
float idx2y (int cy) const
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 
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. More...
 
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. More...
 
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. More...
 
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. More...
 

Public Attributes

mrpt::maps::CReflectivityGridMap2D::TInsertionOptions insertionOptions
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

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

void internal_clear () MRPT_OVERRIDE
 Internal method called by clear() More...
 
bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) MRPT_OVERRIDE
 Internal method called by insertObservation() More...
 
double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE
 Internal method called by computeObservationLikelihood() More...
 
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. More...
 
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. More...
 
std::vector< int8_t > & m_map_castaway_const () const
 Used only from logically const method that really need to modify the object. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
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. More...
 

Protected Attributes

std::vector< int8_t > m_map
 The cells. More...
 
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_tm_logodd_lut
 Lookup tables for log-odds. More...
 

RTTI stuff

typedef CReflectivityGridMap2DPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CReflectivityGridMap2D
 
static mrpt::utils::TRuntimeClassId classCReflectivityGridMap2D
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CReflectivityGridMap2DPtr Create ()
 

Map Definition Interface stuff (see mrpt::maps::TMetricMapInitializer) @{

static const size_t m_private_map_register_id
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CReflectivityGridMap2DCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Member Typedef Documentation

§ cell_t

typedef int8_t mrpt::maps::CLogOddsGridMap2D< int8_t >::cell_t
inherited

The type of cells.

Definition at line 52 of file maps/CLogOddsGridMap2D.h.

§ SmartPtr

typedef CReflectivityGridMap2DPtr mrpt::maps::CReflectivityGridMap2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ traits_t

typedef detail::logoddscell_traits<int8_t > mrpt::maps::CLogOddsGridMap2D< int8_t >::traits_t
inherited

Definition at line 53 of file maps/CLogOddsGridMap2D.h.

Constructor & Destructor Documentation

§ CReflectivityGridMap2D()

mrpt::maps::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

§ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CReflectivityGridMap2D::_GetBaseClass ( )
staticprotected

§ auxParticleFilterCleanUp()

virtual void mrpt::maps::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::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 240 of file maps/CMetricMap.h.

§ canComputeObservationLikelihood() [1/2]

virtual bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation obs)
virtualinherited

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
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

§ canComputeObservationLikelihood() [2/2]

bool mrpt::maps::CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservationPtr &  obs)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

§ canComputeObservationsLikelihood()

bool mrpt::maps::CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::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
sfThe observations.
See also
canComputeObservationLikelihood

§ cell2float()

float mrpt::maps::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 59 of file maps/CReflectivityGridMap2D.h.

§ cellByIndex() [1/2]

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 215 of file CDynamicGrid.h.

§ cellByIndex() [2/2]

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 224 of file CDynamicGrid.h.

§ cellByPos() [1/2]

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 189 of file CDynamicGrid.h.

§ cellByPos() [2/2]

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 202 of file CDynamicGrid.h.

§ clear()

void mrpt::maps::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 57 of file maps/CReflectivityGridMap2D.h.

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

§ clone()

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

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

§ compute3DMatchingRatio()

float mrpt::maps::CReflectivityGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
float  maxDistForCorr = 0.10f,
float  maxMahaDistForCorr = 2.0f 
) const
virtual

See docs in base class: in this class this always returns 0.

Reimplemented from mrpt::maps::CMetricMap.

§ computeObservationLikelihood() [1/2]

double mrpt::maps::CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
inherited

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

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

§ computeObservationLikelihood() [2/2]

double mrpt::maps::CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

§ computeObservationsLikelihood()

double mrpt::maps::CMetricMap::computeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf,
const mrpt::poses::CPose2D takenFrom 
)
inherited

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

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See also
canComputeObservationsLikelihood

§ Create()

static CReflectivityGridMap2DPtr mrpt::maps::CReflectivityGridMap2D::Create ( )
static

§ CreateFromMapDefinition()

static CReflectivityGridMap2D* mrpt::maps::CReflectivityGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

Constructor from a map definition structure: initializes the map and its parameters accordingly.

§ CreateObject()

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

§ determineMatching2D()

virtual void mrpt::maps::CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose2D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

  • The set of points pairs in each map
  • The mean squared distance between corresponding pairs.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See also
compute3DMatchingRatio

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

§ determineMatching3D()

virtual void mrpt::maps::CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
mrpt::utils::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

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 ICP-like algorithms.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.
Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See also
compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

§ duplicate()

virtual mrpt::utils::CObject* mrpt::maps::CReflectivityGridMap2D::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

§ duplicateGetSmartPtr()

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 136 of file CObject.h.

§ fill()

void mrpt::utils::CDynamicGrid< int8_t >::fill ( const int8_t &  value)
inlineinherited

Fills all the cells with the same value.

Definition at line 107 of file CDynamicGrid.h.

§ getAs3DObject()

void mrpt::maps::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::maps::CMetricMap.

§ getAsImage()

void mrpt::maps::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)

§ getAsMatrix()

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

Get the entire grid as a matrix.

Template Parameters
MATThe type of the matrix, typically a mrpt::math::CMatrixDouble.
Parameters
[out]mThe 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 297 of file CDynamicGrid.h.

§ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::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::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 248 of file maps/CMetricMap.h.

§ getAsSimplePointsMap() [2/2]

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlinevirtualinherited

§ getResolution()

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

Returns the resolution of the grid map.

Definition at line 257 of file CDynamicGrid.h.

§ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

§ getSizeX()

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

Returns the horizontal size of grid map in cells count.

Definition at line 233 of file CDynamicGrid.h.

§ getSizeY()

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

Returns the vertical size of grid map in cells count.

Definition at line 237 of file CDynamicGrid.h.

§ getXMax()

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

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

Definition at line 245 of file CDynamicGrid.h.

§ getXMin()

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

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

Definition at line 241 of file CDynamicGrid.h.

§ getYMax()

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

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

Definition at line 253 of file CDynamicGrid.h.

§ getYMin()

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

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

Definition at line 249 of file CDynamicGrid.h.

§ hasSubscribers()

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 52 of file CObservable.h.

§ idx2cxcy()

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 266 of file CDynamicGrid.h.

§ idx2x()

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

Transform a cell index into a coordinate value.

Definition at line 274 of file CDynamicGrid.h.

§ idx2y()

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

Definition at line 275 of file CDynamicGrid.h.

§ insertObservation()

bool mrpt::maps::CMetricMap::insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters
obsThe observation
robotPoseThe 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

§ insertObservationPtr()

bool mrpt::maps::CMetricMap::insertObservationPtr ( const mrpt::obs::CObservationPtr &  obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
inherited

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

§ internal_clear()

void mrpt::maps::CReflectivityGridMap2D::internal_clear ( )
protectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

§ internal_computeObservationLikelihood()

double mrpt::maps::CReflectivityGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
protectedvirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

§ internal_CreateFromMapDefinition()

static mrpt::maps::CMetricMap* mrpt::maps::CReflectivityGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

§ internal_insertObservation()

bool mrpt::maps::CReflectivityGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = NULL 
)
protectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

§ isEmpty()

bool mrpt::maps::CReflectivityGridMap2D::isEmpty ( ) const
virtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

§ loadFromProbabilisticPosesAndObservations()

void mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::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::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

§ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::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::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 103 of file maps/CMetricMap.h.

§ m_map_castaway_const()

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 47 of file CDynamicGrid.h.

§ MapDefinition()

static mrpt::maps::TMetricMapInitializer* mrpt::maps::CReflectivityGridMap2D::MapDefinition ( )
static

Returns default map definition initializer.

See mrpt::maps::TMetricMapInitializer

§ operator delete() [1/3]

void mrpt::maps::CReflectivityGridMap2D::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator delete() [2/3]

void mrpt::maps::CReflectivityGridMap2D::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator delete() [3/3]

void mrpt::maps::CReflectivityGridMap2D::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator delete[]()

void mrpt::maps::CReflectivityGridMap2D::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator new() [1/3]

void* mrpt::maps::CReflectivityGridMap2D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator new() [2/3]

static void* mrpt::maps::CReflectivityGridMap2D::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator new() [3/3]

void* mrpt::maps::CReflectivityGridMap2D::operator new ( size_t  size)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ operator new[]()

void* mrpt::maps::CReflectivityGridMap2D::operator new[] ( size_t  size)
inline

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ publishEvent()

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.

§ readFromStream()

void mrpt::maps::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

§ resize()

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 115 of file CDynamicGrid.h.

§ saveMetricMapRepresentationToFile()

void mrpt::maps::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::maps::CMetricMap.

§ saveToTextFile()

bool mrpt::utils::CDynamicGrid< int8_t >::saveToTextFile ( const std::string &  fileName) const
inlineinherited

Saves a float representation of the grid (via "cell2float()") to a text file.

Returns
false on error

Definition at line 314 of file CDynamicGrid.h.

§ setSize()

void mrpt::utils::CDynamicGrid< int8_t >::setSize ( const float  x_min,
const float  x_max,
const float  y_min,
const float  y_max,
const float  resolution,
const int8_t *  fill_value = NULL 
)
inlineinherited

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

If fill_value is left as NULL, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not NULL, it is assured that all cells will have a copy of that value after resizing.

See also
resize, fill

Definition at line 75 of file CDynamicGrid.h.

§ squareDistanceToClosestCorrespondence()

virtual float mrpt::maps::CMetricMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

§ updateCell_fast_free() [1/2]

static void mrpt::maps::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
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 102 of file maps/CLogOddsGridMap2D.h.

§ updateCell_fast_free() [2/2]

static void mrpt::maps::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
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 124 of file maps/CLogOddsGridMap2D.h.

§ updateCell_fast_occupied() [1/2]

static void mrpt::maps::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
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 63 of file maps/CLogOddsGridMap2D.h.

§ updateCell_fast_occupied() [2/2]

static void mrpt::maps::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
theCellThe cell to modify
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 84 of file maps/CLogOddsGridMap2D.h.

§ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

§ writeToStream()

void mrpt::maps::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

§ x2idx() [1/2]

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

Transform a coordinate values into cell indexes.

Definition at line 261 of file CDynamicGrid.h.

§ x2idx() [2/2]

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 279 of file CDynamicGrid.h.

§ xy2idx()

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

Definition at line 263 of file CDynamicGrid.h.

§ y2idx() [1/2]

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

Definition at line 262 of file CDynamicGrid.h.

§ y2idx() [2/2]

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

Definition at line 284 of file CDynamicGrid.h.

Member Data Documentation

§ _init_CReflectivityGridMap2D

mrpt::utils::CLASSINIT mrpt::maps::CReflectivityGridMap2D::_init_CReflectivityGridMap2D
staticprotected

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ CELLTYPE_MAX

const int8_t mrpt::maps::detail::logoddscell_traits< int8_t >::CELLTYPE_MAX = 127
staticinherited

Definition at line 28 of file maps/CLogOddsGridMap2D.h.

§ CELLTYPE_MIN

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

Definition at line 27 of file maps/CLogOddsGridMap2D.h.

§ classCMetricMap

const mrpt::utils::TRuntimeClassId mrpt::maps::CMetricMap::classCMetricMap
staticinherited

Definition at line 55 of file maps/CMetricMap.h.

§ classCObject

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

Definition at line 124 of file CObject.h.

§ classCReflectivityGridMap2D

mrpt::utils::TRuntimeClassId mrpt::maps::CReflectivityGridMap2D::classCReflectivityGridMap2D
static

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ classCSerializable

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

Definition at line 42 of file CSerializable.h.

§ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::maps::CReflectivityGridMap2D::classinfo
static

Definition at line 47 of file maps/CReflectivityGridMap2D.h.

§ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited

Common params to all maps.

Definition at line 235 of file maps/CMetricMap.h.

§ insertionOptions

mrpt::maps::CReflectivityGridMap2D::TInsertionOptions mrpt::maps::CReflectivityGridMap2D::insertionOptions

§ LOGODDS_LUT_ENTRIES

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

Definition at line 30 of file maps/CLogOddsGridMap2D.h.

§ m_logodd_lut

CLogOddsGridMapLUT<cell_t> mrpt::maps::CReflectivityGridMap2D::m_logodd_lut
staticprotected

Lookup tables for log-odds.

Definition at line 50 of file maps/CReflectivityGridMap2D.h.

§ m_map

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

The cells.

Definition at line 44 of file CDynamicGrid.h.

§ m_private_map_register_id

const size_t mrpt::maps::CReflectivityGridMap2D::m_private_map_register_id
static

ID used to initialize class registration (just ignore it)

Definition at line 132 of file maps/CReflectivityGridMap2D.h.

§ m_resolution

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

Definition at line 50 of file CDynamicGrid.h.

§ m_size_x

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

Definition at line 51 of file CDynamicGrid.h.

§ m_size_y

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

Definition at line 51 of file CDynamicGrid.h.

§ m_x_max

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

Definition at line 49 of file CDynamicGrid.h.

§ m_x_min

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

Definition at line 49 of file CDynamicGrid.h.

§ m_y_max

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

Definition at line 49 of file CDynamicGrid.h.

§ m_y_min

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

Definition at line 49 of file CDynamicGrid.h.

§ P2LTABLE_SIZE

const int8_t mrpt::maps::detail::logoddscell_traits< int8_t >::P2LTABLE_SIZE = CELLTYPE_MAX
staticinherited

Definition at line 29 of file maps/CLogOddsGridMap2D.h.




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