The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.
Definition at line 92 of file maps/CLandmarksMap.h.
#include <mrpt/maps/CLandmarksMap.h>
Public Types | |
typedef internal::TSequenceLandmarks::iterator | iterator |
typedef internal::TSequenceLandmarks::const_iterator | const_iterator |
Public Member Functions | |
TCustomSequenceLandmarks () | |
Default constructor. More... | |
iterator | begin () |
iterator | end () |
void | clear () |
size_t | size () const |
const_iterator | begin () const |
const_iterator | end () const |
void | push_back (const CLandmark &lm) |
The object is copied, thus the original copy passed as a parameter can be released. More... | |
CLandmark * | get (unsigned int indx) |
const CLandmark * | get (unsigned int indx) const |
void | isToBeModified (unsigned int indx) |
void | hasBeenModified (unsigned int indx) |
void | hasBeenModifiedAll () |
void | erase (unsigned int indx) |
mrpt::utils::CDynamicGrid< vector_int > * | getGrid () |
const CLandmark * | getByID (CLandmark::TLandmarkID ID) const |
Returns the landmark with a given landmrk ID, or NULL if not found. More... | |
const CLandmark * | getByBeaconID (unsigned int ID) const |
Returns the landmark with a given beacon ID, or NULL if not found. More... | |
float | getLargestDistanceFromOrigin () const |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More... | |
Private Attributes | |
internal::TSequenceLandmarks | m_landmarks |
The actual list. More... | |
mrpt::utils::CDynamicGrid< vector_int > | m_grid |
A grid-map with the set of landmarks falling into each cell. More... | |
float | m_largestDistanceFromOrigin |
Auxiliary variables used in "getLargestDistanceFromOrigin". More... | |
bool | m_largestDistanceFromOriginIsUpdated |
Auxiliary variables used in "getLargestDistanceFromOrigin". More... | |
typedef internal::TSequenceLandmarks::const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator |
Definition at line 122 of file maps/CLandmarksMap.h.
typedef internal::TSequenceLandmarks::iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator |
Definition at line 118 of file maps/CLandmarksMap.h.
CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks | ( | ) |
Default constructor.
Definition at line 1705 of file CLandmarksMap.cpp.
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inline |
Definition at line 119 of file maps/CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::vision::StereoObs2BRObs(), and mrpt::maps::CLandmarksMap::writeToStream().
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inline |
Definition at line 125 of file maps/CLandmarksMap.h.
void CLandmarksMap::TCustomSequenceLandmarks::clear | ( | ) |
Definition at line 1713 of file CLandmarksMap.cpp.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::CLandmarksMap(), mrpt::maps::CLandmarksMap::internal_clear(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::readFromStream(), and mrpt::maps::CLandmarksMap::~CLandmarksMap().
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Definition at line 120 of file maps/CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::vision::cloudsToMatchedList(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::saveToMATLABScript2D(), mrpt::maps::CLandmarksMap::saveToMATLABScript3D(), mrpt::maps::CLandmarksMap::saveToTextFile(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::vision::StereoObs2BRObs(), and mrpt::maps::CLandmarksMap::writeToStream().
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inline |
Definition at line 126 of file maps/CLandmarksMap.h.
void CLandmarksMap::TCustomSequenceLandmarks::erase | ( | unsigned int | indx | ) |
Definition at line 1771 of file CLandmarksMap.cpp.
Referenced by mrpt::maps::CLandmarksMap::fuseWith().
CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get | ( | unsigned int | indx | ) |
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get | ( | unsigned int | indx | ) | const |
Definition at line 1749 of file CLandmarksMap.cpp.
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID | ( | unsigned int | ID | ) | const |
Returns the landmark with a given beacon ID, or NULL if not found.
Definition at line 2393 of file CLandmarksMap.cpp.
Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().
const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID | ( | CLandmark::TLandmarkID | ID | ) | const |
Returns the landmark with a given landmrk ID, or NULL if not found.
Definition at line 2373 of file CLandmarksMap.cpp.
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inline |
Definition at line 138 of file maps/CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007().
float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin | ( | ) | const |
This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).
Definition at line 1831 of file CLandmarksMap.cpp.
References begin(), and mrpt::math::square().
Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio().
void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified | ( | unsigned int | indx | ) |
Definition at line 1777 of file CLandmarksMap.cpp.
References min.
Referenced by mrpt::maps::CLandmarksMap::fuseWith().
void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModifiedAll | ( | ) |
Definition at line 1794 of file CLandmarksMap.cpp.
References min, MRPT_END, and MRPT_START.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference().
void CLandmarksMap::TCustomSequenceLandmarks::isToBeModified | ( | unsigned int | indx | ) |
Definition at line 1754 of file CLandmarksMap.cpp.
Referenced by mrpt::maps::CLandmarksMap::fuseWith().
The object is copied, thus the original copy passed as a parameter can be released.
Definition at line 1723 of file CLandmarksMap.cpp.
References ASSERT_, min, mrpt::maps::CLandmark::pose_mean, mrpt::math::TPoint3D::x, and mrpt::math::TPoint3D::y.
Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::vision::projectMatchedFeatures(), mrpt::maps::CLandmarksMap::readFromStream(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().
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inline |
Definition at line 122 of file maps/CLandmarksMap.h.
Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), mrpt::maps::CLandmarksMap::fuseWith(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::maps::CLandmarksMap::size(), and mrpt::maps::CLandmarksMap::writeToStream().
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private |
A grid-map with the set of landmarks falling into each cell.
Definition at line 101 of file maps/CLandmarksMap.h.
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private |
The actual list.
Definition at line 96 of file maps/CLandmarksMap.h.
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mutableprivate |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 106 of file maps/CLandmarksMap.h.
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mutableprivate |
Auxiliary variables used in "getLargestDistanceFromOrigin".
Definition at line 111 of file maps/CLandmarksMap.h.
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