Declares a virtual base class for all metric maps storage classes.
In this class virtual methods are provided to allow the insertion of any type of "CObservation" objects into the metric map, thus updating the map (doesn't matter if it is a 2D/3D grid, a point map, etc.).
Observations don't include any information about the robot pose, just the raw observation and information about the sensor pose relative to the robot mobile base coordinates origin.
Note that all metric maps implement this mrpt::utils::CObservable interface, emitting the following events:
mrpt::obs::mrptEventMetricMapInsert: Upon insertion of an observation that effectively modifies the map (e.g. inserting an image into a grid map will NOT raise an event, inserting a laser scan will).
<metric_map_class>::MapDefinition()
that builds a default TMetricMapInitializer [New in MRPT 1.3.0]Definition at line 50 of file maps/CMetricMap.h.
#include <mrpt/maps/CMetricMap.h>
Public Member Functions | |
void | clear () |
Erase all the contents of the map. More... | |
virtual bool | isEmpty () const =0 |
Returns true if the map is empty/no observation has been inserted. 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... | |
CMetricMap () | |
Constructor. More... | |
virtual | ~CMetricMap () |
Destructor. 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 float | compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, float maxDistForCorr=0.10f, float maxMahaDistForCorr=2.0f) const |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More... | |
virtual void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const =0 |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More... | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const =0 |
Returns a 3D object representing the map. 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... | |
virtual CObject * | duplicate () const =0 |
Returns a copy of the object, indepently of its 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... | |
Public Attributes | |
TMapGenericParams | genericMapParams |
Common params to all maps. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. 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... | |
Private Member Functions | |
virtual void | internal_clear ()=0 |
Internal method called by clear() More... | |
virtual bool | internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)=0 |
Internal method called by insertObservation() More... | |
virtual double | internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)=0 |
Internal method called by computeObservationLikelihood() More... | |
virtual bool | internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Internal method called by canComputeObservationLikelihood() More... | |
virtual void | OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More... | |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
class | mrpt::utils::CStream |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
mrpt::maps::CMetricMap::CMetricMap | ( | ) |
Constructor.
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virtual |
Destructor.
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staticprotected |
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inlinevirtual |
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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virtual |
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. |
bool mrpt::maps::CMetricMap::canComputeObservationLikelihood | ( | const mrpt::obs::CObservationPtr & | obs | ) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
bool mrpt::maps::CMetricMap::canComputeObservationsLikelihood | ( | const mrpt::obs::CSensoryFrame & | sf | ) |
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. |
void mrpt::maps::CMetricMap::clear | ( | ) |
Erase all the contents of the map.
Referenced by mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), and mrpt::maps::CRandomFieldGridMap2D::clear().
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inlineinherited |
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virtual |
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
This method always return 0 for grid maps.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
maxDistForCorr | [IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence. |
maxMahaDistForCorr | [IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence. |
Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.
double mrpt::maps::CMetricMap::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.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
double mrpt::maps::CMetricMap::computeObservationLikelihood | ( | const mrpt::obs::CObservation * | obs, |
const mrpt::poses::CPose2D & | takenFrom | ||
) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
double mrpt::maps::CMetricMap::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.
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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virtual |
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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virtual |
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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pure virtualinherited |
Returns a copy of the object, indepently of its class.
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::gui::CDisplayWindow3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationRGBD360, mrpt::hmtslam::CHMTSLAM, mrpt::maps::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::maps::TMapGenericParams, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::maps::CBeaconMap, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::gui::CDisplayWindowPlots, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGPS, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.
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pure virtual |
Returns a 3D object representing the map.
Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CBeaconMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CColouredPointsMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, and mrpt::maps::CWirelessPowerGridMap2D.
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inlinevirtual |
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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inlinevirtual |
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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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimplePointsMap, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, and mrpt::maps::CWeightedPointsMap.
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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.
bool mrpt::maps::CMetricMap::insertObservation | ( | const mrpt::obs::CObservation * | obs, |
const mrpt::poses::CPose3D * | robotPose = NULL |
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) |
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. |
bool mrpt::maps::CMetricMap::insertObservationPtr | ( | const mrpt::obs::CObservationPtr & | obs, |
const mrpt::poses::CPose3D * | robotPose = NULL |
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) |
A wrapper for smart pointers, just calls the non-smart pointer version.
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inlineprivatevirtual |
Internal method called by canComputeObservationLikelihood()
Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.
Definition at line 69 of file maps/CMetricMap.h.
References MRPT_UNUSED_PARAM.
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privatepure virtual |
Internal method called by clear()
Implemented in mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CColouredPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CSimplePointsMap, mrpt::maps::CWeightedPointsMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CLandmarksMap, and mrpt::maps::CBeaconMap.
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privatepure virtual |
Internal method called by computeObservationLikelihood()
Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CLandmarksMap, and mrpt::maps::CBeaconMap.
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privatepure virtual |
Internal method called by insertObservation()
Implemented in mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CColouredOctoMap, mrpt::maps::CLandmarksMap, mrpt::maps::CBeaconMap, and mrpt::maps::COctoMap.
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pure virtual |
Returns true if the map is empty/no observation has been inserted.
Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CBeaconMap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CHeightGridMap2D, and mrpt::maps::CReflectivityGridMap2D.
void mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations | ( | const mrpt::maps::CSimpleMap & | Map | ) |
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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inline |
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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inlineprivatevirtual |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.
Reimplemented in mrpt::maps::COccupancyGridMap2D.
Definition at line 77 of file maps/CMetricMap.h.
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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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protectedpure virtualinherited |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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 |
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationRGBD360, mrpt::hmtslam::CHMTSLAM, mrpt::maps::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::maps::TMapGenericParams, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::maps::CBeaconMap, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGPS, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions::TRenderingOptions(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
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pure virtual |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CPointsMap, mrpt::maps::CBeaconMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, and mrpt::maps::CWirelessPowerGridMap2D.
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virtual |
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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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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protectedpure virtualinherited |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
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 |
Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationRGBD360, mrpt::hmtslam::CHMTSLAM, mrpt::maps::CLandmarksMap, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::maps::TMapGenericParams, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::Plane, mrpt::opengl::CFrustum, mrpt::maps::CBeaconMap, mrpt::pbmap::PbMap, mrpt::utils::CMHPropertiesValuesList, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::poses::CPointPDFSOG, mrpt::maps::COctoMap, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::maps::CLandmark, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CPolyhedron, mrpt::obs::CObservationOdometry, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::CMemoryChunk, mrpt::utils::TCamera, mrpt::obs::CActionCollection, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGPS, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::obs::CObservationCANBusJ1939, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, and mrpt::opengl::COpenGLStandardObject.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions::TRenderingOptions(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
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friend |
Definition at line 55 of file maps/CMetricMap.h.
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static |
Definition at line 55 of file maps/CMetricMap.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CSerializable.h.
TMapGenericParams mrpt::maps::CMetricMap::genericMapParams |
Common params to all maps.
Definition at line 235 of file maps/CMetricMap.h.
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