CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
There are a number of methods available to build the wifi grid-map, depending on the value of "TMapRepresentation maptype" passed in the constructor (see CRandomFieldGridMap2D for a discussion).
Update the map with insertIndividualReading() or insertObservation()
Definition at line 34 of file maps/CWirelessPowerGridMap2D.h.
#include <mrpt/maps/CWirelessPowerGridMap2D.h>
Classes | |
struct | TInsertionOptions |
Parameters related with inserting observations into the map: More... | |
struct | TMapDefinition |
struct | TMapDefinitionBase |
Public Types | |
enum | TMapRepresentation { mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKernelDMV, mrGMRF_G, mrGMRF_SD, mrGMRF_L } |
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More... | |
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 () |
CWirelessPowerGridMap2D (TMapRepresentation mapType=mrKernelDM, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1) | |
Constructor. More... | |
virtual | ~CWirelessPowerGridMap2D () |
Destructor. More... | |
virtual void | getAsBitmapFile (mrpt::utils::CImage &out_img) const |
Returns an image just as described in saveAsBitmapFile. 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 | 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. More... | |
void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const |
Returns a 3D object representing the map. More... | |
void | clear () |
Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More... | |
float | cell2float (const TRandomFieldCell &c) const |
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. More... | |
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) More... | |
virtual void | saveAsBitmapFile (const std::string &filName) const |
Save the current map as a graphical file (BMP,PNG,...). More... | |
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. More... | |
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. 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 | getAsMatlab3DGraphScript (std::string &out_script) const |
Return a large text block with a MATLAB script to plot the contents of this map. More... | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const |
Returns two 3D objects representing the mean and variance maps. More... | |
TMapRepresentation | getMapType () |
Return the type of the random-field grid map, according to parameters passed on construction. More... | |
void | insertIndividualReading (const float sensorReading, const mrpt::math::TPoint2D &point) |
Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor. More... | |
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). More... | |
void | getMeanAndCov (mrpt::math::CVectorDouble &out_means, mrpt::math::CMatrixDouble &out_cov) const |
Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods). More... | |
void | getMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD) const |
Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More... | |
void | setMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD) |
Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). 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 ¶ms, 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 ¶ms, 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::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. More... | |
virtual mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () |
virtual mxArray * | writeToMatlab () 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 TRandomFieldCell *fill_value=NULL) |
Changes the size of the grid, ERASING all previous contents. More... | |
void | fill (const TRandomFieldCell &value) |
Fills all the cells with the same value. More... | |
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. More... | |
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. More... | |
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. More... | |
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. 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) |
Public Attributes | |
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions | insertionOptions |
TMapGenericParams | genericMapParams |
Common params to all maps. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCRandomFieldGridMap2D |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * | getCommonInsertOptions () |
Get the part of the options common to all CRandomFieldGridMap2D classes. More... | |
void | internal_clear () MRPT_OVERRIDE |
Erase all the contents of the map. 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 | insertObservation_KernelDM_DMV (float normReading, const mrpt::math::TPoint2D &point, bool is_DMV) |
The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V. More... | |
void | insertObservation_KF (float normReading, const mrpt::math::TPoint2D &point) |
The implementation of "insertObservation" for the (whole) Kalman Filter map model. More... | |
void | insertObservation_KF2 (float normReading, const mrpt::math::TPoint2D &point) |
The implementation of "insertObservation" for the Efficient Kalman Filter map model. More... | |
void | insertObservation_GMRF (float normReading, const mrpt::math::TPoint2D &point) |
The implementation of "insertObservation" for the Gaussian Markov Random Field map model. More... | |
void | updateMapEstimation_GMRF () |
solves the minimum quadratic system to determine the new concentration of each cell More... | |
double | computeConfidenceCellValue_DM_DMV (const TRandomFieldCell *cell) const |
Computes the confidence of the cell concentration (alpha) More... | |
double | computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const |
Computes the average cell concentration, or the overall average value if it has never been observed. More... | |
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. More... | |
void | recoverMeanAndCov () const |
In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values. More... | |
bool | exist_relation_between2cells (const mrpt::maps::COccupancyGridMap2D *m_Ocgridmap, size_t cxo_min, size_t cxo_max, size_t cyo_min, size_t cyo_max, const size_t seed_cxo, const size_t seed_cyo, const size_t objective_cxo, const size_t objective_cyo) |
Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap. 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< TRandomFieldCell > & | 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 | |
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. More... | |
TMapRepresentation | m_mapType |
The map representation type of this map, as passed in the constructor. More... | |
mrpt::math::CMatrixD | m_cov |
The whole covariance matrix, used for the Kalman Filter map representation. More... | |
mrpt::math::CMatrixD | m_stackedCov |
The compressed band diagonal matrix for the KF2 implementation. More... | |
bool | m_hasToRecoverMeanAndCov |
Only for the KF2 implementation. More... | |
std::vector< TRandomFieldCell > | 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 |
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 |
Auxiliary vars for GMRF method | |
Eigen::VectorXd | g |
size_t | nPriorFactors |
size_t | nObsFactors |
size_t | nFactors |
std::multimap< size_t, size_t > | cell_interconnections |
std::vector< float > | gauss_val |
std::vector< std::vector< TobservationGMRF > > | activeObs |
RTTI stuff | |
typedef CWirelessPowerGridMap2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CWirelessPowerGridMap2D |
static mrpt::utils::TRuntimeClassId | classCWirelessPowerGridMap2D |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CWirelessPowerGridMap2DPtr | 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::TMetricMapInitializer * | MapDefinition () |
Returns default map definition initializer. More... | |
static CWirelessPowerGridMap2D * | CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
Constructor from a map definition structure: initializes the map and its parameters accordingly. More... | |
static mrpt::maps::CMetricMap * | internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def) |
typedef CWirelessPowerGridMap2DPtr mrpt::maps::CWirelessPowerGridMap2D::SmartPtr |
A typedef for the associated smart pointer
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inherited |
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
Enumerator | |
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mrKernelDM | |
mrAchim | Another alias for "mrKernelDM", for backwards compatibility. |
mrKalmanFilter | |
mrKalmanApproximate | |
mrKernelDMV | |
mrGMRF_G | |
mrGMRF_SD | |
mrGMRF_L |
Definition at line 131 of file maps/CRandomFieldGridMap2D.h.
mrpt::maps::CWirelessPowerGridMap2D::CWirelessPowerGridMap2D | ( | TMapRepresentation | mapType = mrKernelDM , |
float | x_min = -2 , |
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float | x_max = 2 , |
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float | y_min = -2 , |
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float | y_max = 2 , |
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float | resolution = 0.1 |
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) |
Constructor.
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virtual |
Destructor.
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staticprotected |
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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.
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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).
obs | The observation. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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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).
sf | The observations. |
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inlineinherited |
Definition at line 124 of file maps/CRandomFieldGridMap2D.h.
References mrpt::maps::TRandomFieldCell::kf_mean.
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inlinevirtualinherited |
The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.
Definition at line 308 of file CDynamicGrid.h.
References MRPT_UNUSED_PARAM.
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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.
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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.
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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.
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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.
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inlineinherited |
Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.
Definition at line 121 of file maps/CRandomFieldGridMap2D.h.
References mrpt::maps::CMetricMap::clear().
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inlineinherited |
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virtualinherited |
See docs in base class: in this class this always returns 0.
Reimplemented from mrpt::maps::CMetricMap.
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protectedinherited |
Computes the confidence of the cell concentration (alpha)
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protectedinherited |
Computes the average cell concentration, or the overall average value if it has never been observed.
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inherited |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
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inherited |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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inherited |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.
takenFrom | The robot's pose the observation is supposed to be taken from. |
sf | The set of observations in a CSensoryFrame. |
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protectedinherited |
Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.
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static |
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static |
Constructor from a map definition structure: initializes the map and its parameters accordingly.
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static |
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virtualinherited |
Computes the matching between this and another 2D point map, which includes finding:
The algorithm is:
This method is the most time critical one into ICP-like algorithms.
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. |
Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CBeaconMap.
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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:
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. |
Reimplemented in mrpt::maps::CPointsMap.
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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protectedinherited |
Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap.
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inlineinherited |
Fills all the cells with the same value.
Definition at line 107 of file CDynamicGrid.h.
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virtual |
Returns a 3D object representing the map.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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virtualinherited |
Returns two 3D objects representing the mean and variance maps.
Reimplemented in mrpt::maps::CGasConcentrationGridMap2D.
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virtual |
Returns an image just as described in saveAsBitmapFile.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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inherited |
Return a large text block with a MATLAB script to plot the contents of this map.
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inlineinherited |
Get the entire grid as a matrix.
MAT | The type of the matrix, typically a mrpt::math::CMatrixDouble. |
[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). |
Definition at line 297 of file CDynamicGrid.h.
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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.
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inlinevirtualinherited |
Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.
Definition at line 249 of file maps/CMetricMap.h.
References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE, and OBS_IMPEXP.
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inlineprotectedvirtual |
Get the part of the options common to all CRandomFieldGridMap2D classes.
Implements mrpt::maps::CRandomFieldGridMap2D.
Definition at line 91 of file maps/CWirelessPowerGridMap2D.h.
References MRPT_OVERRIDE.
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inherited |
Return the type of the random-field grid map, according to parameters passed on construction.
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inherited |
Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).
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inherited |
Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).
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inlineinherited |
Returns the resolution of the grid map.
Definition at line 257 of file CDynamicGrid.h.
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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inlineinherited |
Returns the horizontal size of grid map in cells count.
Definition at line 233 of file CDynamicGrid.h.
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inlineinherited |
Returns the vertical size of grid map in cells count.
Definition at line 237 of file CDynamicGrid.h.
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inlineinherited |
Returns the "x" coordinate of right side of grid map.
Definition at line 245 of file CDynamicGrid.h.
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inlineinherited |
Returns the "x" coordinate of left side of grid map.
Definition at line 241 of file CDynamicGrid.h.
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inlineinherited |
Returns the "y" coordinate of bottom side of grid map.
Definition at line 253 of file CDynamicGrid.h.
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inlineinherited |
Returns the "y" coordinate of top side of grid map.
Definition at line 249 of file CDynamicGrid.h.
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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.
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inlineinherited |
Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.
Definition at line 266 of file CDynamicGrid.h.
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inlineinherited |
Transform a cell index into a coordinate value.
Definition at line 274 of file CDynamicGrid.h.
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inlineinherited |
Definition at line 275 of file CDynamicGrid.h.
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inherited |
Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor.
This is a direct way to update the map, an alternative to the generic insertObservation() method which works with mrpt::obs::CObservation objects.
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inherited |
Insert the observation information into this map.
This method must be implemented in derived classes.
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. |
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protectedinherited |
The implementation of "insertObservation" for the Gaussian Markov Random Field map model.
normReading | Is a [0,1] normalized concentration reading. |
point | Is the sensor location on the map |
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protectedinherited |
The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.
normReading | Is a [0,1] normalized concentration reading. |
point | Is the sensor location on the map |
is_DMV | = false -> map type is Kernel DM; true -> map type is DM+V |
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protectedinherited |
The implementation of "insertObservation" for the (whole) Kalman Filter map model.
normReading | Is a [0,1] normalized concentration reading. |
point | Is the sensor location on the map |
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protectedinherited |
The implementation of "insertObservation" for the Efficient Kalman Filter map model.
normReading | Is a [0,1] normalized concentration reading. |
point | Is the sensor location on the map |
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inherited |
A wrapper for smart pointers, just calls the non-smart pointer version.
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protectedvirtual |
Erase all the contents of the map.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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protectedvirtual |
Internal method called by computeObservationLikelihood()
Implements mrpt::maps::CMetricMap.
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static |
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Internal method called by insertObservation()
Implements mrpt::maps::CMetricMap.
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virtualinherited |
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::maps::CMetricMap.
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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.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
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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.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
Definition at line 103 of file maps/CMetricMap.h.
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inlineprotectedinherited |
Used only from logically const method that really need to modify the object.
Definition at line 47 of file CDynamicGrid.h.
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Returns default map definition initializer.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inlinestatic |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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inline |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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virtualinherited |
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.
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protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
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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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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protectedinherited |
In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.
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inlinevirtualinherited |
Changes the size of the grid, maintaining previous contents.
Definition at line 115 of file CDynamicGrid.h.
References mrpt::utils::round().
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virtualinherited |
Changes the size of the grid, maintaining previous contents.
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virtualinherited |
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 mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell.
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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.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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virtual |
The implementation in this class just calls all the corresponding method of the contained metric maps.
Reimplemented from mrpt::maps::CRandomFieldGridMap2D.
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inlineinherited |
Saves a float representation of the grid (via "cell2float()") to a text file.
Definition at line 314 of file CDynamicGrid.h.
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inherited |
Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).
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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.
Definition at line 75 of file CDynamicGrid.h.
References mrpt::utils::round().
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virtualinherited |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
Reimplemented in mrpt::maps::CPointsMap.
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protectedinherited |
solves the minimum quadratic system to determine the new concentration of each cell
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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.
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().
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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.
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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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inlineinherited |
Transform a coordinate values into cell indexes.
Definition at line 261 of file CDynamicGrid.h.
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inlineinherited |
Transform a coordinate value into a cell index, using a diferent "x_min" value.
Definition at line 279 of file CDynamicGrid.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 263 of file CDynamicGrid.h.
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inlineinherited |
Definition at line 262 of file CDynamicGrid.h.
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inlineinherited |
Definition at line 284 of file CDynamicGrid.h.
References MRPT_UNUSED_PARAM.
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staticprotected |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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protectedinherited |
Definition at line 347 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 336 of file maps/CRandomFieldGridMap2D.h.
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staticinherited |
Definition at line 55 of file maps/CMetricMap.h.
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staticinherited |
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staticinherited |
Definition at line 115 of file maps/CRandomFieldGridMap2D.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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static |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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static |
Definition at line 37 of file maps/CWirelessPowerGridMap2D.h.
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protectedinherited |
Definition at line 332 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 338 of file maps/CRandomFieldGridMap2D.h.
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inherited |
Common params to all maps.
Definition at line 235 of file maps/CMetricMap.h.
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions mrpt::maps::CWirelessPowerGridMap2D::insertionOptions |
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protectedinherited |
Definition at line 324 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 323 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 323 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
The whole covariance matrix, used for the Kalman Filter map representation.
Definition at line 310 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 322 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 321 of file maps/CRandomFieldGridMap2D.h.
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mutableprotectedinherited |
Only for the KF2 implementation.
Definition at line 317 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
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 302 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
The cells.
Definition at line 44 of file CDynamicGrid.h.
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protectedinherited |
The map representation type of this map, as passed in the constructor.
Definition at line 308 of file maps/CRandomFieldGridMap2D.h.
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static |
ID used to initialize class registration (just ignore it)
Definition at line 104 of file maps/CWirelessPowerGridMap2D.h.
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protectedinherited |
Definition at line 50 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 51 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 51 of file CDynamicGrid.h.
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protectedinherited |
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 316 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 49 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 49 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 49 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 49 of file CDynamicGrid.h.
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protectedinherited |
Definition at line 335 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 334 of file maps/CRandomFieldGridMap2D.h.
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protectedinherited |
Definition at line 333 of file maps/CRandomFieldGridMap2D.h.
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