CGasConcentrationGridMap2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/obs/CObservationGasSensors.h>

namespace mrpt::maps
{
/** CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D
 * area.
 *
 *  There are a number of methods available to build the gas grid-map,
 * depending on the value of
 *    "TMapRepresentation maptype" passed in the constructor (see base class
 * mrpt::maps::CRandomFieldGridMap2D).
 *
 * Update the map with insertIndividualReading() or insertObservation()
 *
 * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
 * mrpt::containers::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
 * \ingroup mrpt_maps_grp
 */
class CGasConcentrationGridMap2D : public CRandomFieldGridMap2D
{
    DEFINE_SERIALIZABLE(CGasConcentrationGridMap2D, mrpt::maps)
   public:
    /** Constructor
     */
    CGasConcentrationGridMap2D(
        TMapRepresentation mapType = mrAchim, float x_min = -2, float x_max = 2,
        float y_min = -2, float y_max = 2, float resolution = 0.1f);

    /** Destructor */
    ~CGasConcentrationGridMap2D() override;

    /** Parameters related with inserting observations into the map:
     */
    struct TInsertionOptions : public mrpt::config::CLoadableOptions,
                               public TInsertionOptionsCommon
    {
        /** Default values loader */
        TInsertionOptions();

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

        /** @name For all mapping methods
            @{ */
        /** The label of the CObservationGasSensor used to generate the map */
        std::string gasSensorLabel;
        /** id for the enose used to generate this map (must be < gasGrid_count)
         */
        uint16_t enose_id{0};
        /** The sensor type for the gas concentration map (0x0000 ->mean of all
         * installed sensors, 0x2600, 0x6810, ...) */
        uint16_t gasSensorType{0x0000};
        /** The label of the WindSenor used to simulate advection */
        std::string windSensorLabel;

        //[Advection Options]
        bool useWindInformation{
            false};  //! Indicates if wind information must be used
        //! to simulate Advection
        float advectionFreq;  //! Frequency for simulating advection (only used
        //! to transform wind speed to distance)
        float std_windNoise_phi{0.2f},
            std_windNoise_mod{0.2f};  //! The std to consider on
        //! wind information
        //! measurements
        float default_wind_direction{0.0f},
            default_wind_speed{
                1.0f};  //! The default value for the wind information

        /** @} */

    } insertionOptions;

    /** Returns a 3D object representing the map */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

    /** Returns two 3D objects representing the mean and variance maps */
    void getAs3DObject(
        mrpt::opengl::CSetOfObjects::Ptr& meanObj,
        mrpt::opengl::CSetOfObjects::Ptr& varObj) const override;

    /** Returns the 3D object representing the wind grid information */
    void getWindAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& windObj) const;

    /** Increase the kf_std of all cells from the m_map
     *  This mehod is usually called by the main_map to simulate loss of
     *confidence in measurements when time passes */
    virtual void increaseUncertainty(const double STD_increase_value);

    /** Implements the transition model of the gasConcentration map using the
     * information of the wind maps  */
    bool simulateAdvection(double STD_increase_value);

    // Params for the estimation of the gaussian volume in a cell.
    struct TGaussianCell
    {
        int cx = 0;  // x-index of the cell
        int cy = 0;  // y-index of the cell
        float value = 0;  // volume approximation
    };

    // Params for the estimation of the wind effect on each cell of the grid
    struct TGaussianWindTable
    {
        // Fixed params
        float resolution = 0;  // Cell_resolution. To be read from config-file
        float std_phi = 0;  // to be read from config-file
        float std_r = 0;  // to be read from config-file

        // unsigned int subcell_count; //subcell_count x subcell_count  subcells
        // float subcell_res;
        float phi_inc = 0;  // rad
        unsigned int phi_count = 0;
        float r_inc = 0;  // m
        float max_r = 0;  // maximum distance (m)
        unsigned int r_count = 0;

        std::vector<std::vector<std::vector<TGaussianCell>>>* table;
    };

    TGaussianWindTable LUT;

   protected:
    /** Get the part of the options common to all CRandomFieldGridMap2D classes
     */
    CRandomFieldGridMap2D::TInsertionOptionsCommon* getCommonInsertOptions()
        override
    {
        return &insertionOptions;
    }

    // See docs in base class
    void internal_clear() override;
    bool internal_insertObservation(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;
    double internal_computeObservationLikelihood(
        const mrpt::obs::CObservation& obs,
        const mrpt::poses::CPose3D& takenFrom) override;

    /** Builds a LookUp table with the values of the Gaussian Weights result of
     * the wind advection
     *   for a specific std_windNoise_phi value.
     */
    bool build_Gaussian_Wind_Grid();

    bool save_Gaussian_Wind_Grid_To_File();
    bool load_Gaussian_Wind_Grid_From_File();

    /** Gridmaps of the wind Direction/Module */
    mrpt::containers::CDynamicGrid<double> windGrid_module, windGrid_direction;

    /** The timestamp of the last time the advection simulation was executed */
    mrpt::system::TTimeStamp timeLastSimulated;

    MAP_DEFINITION_START(CGasConcentrationGridMap2D)
    /** See CGasConcentrationGridMap2D::CGasConcentrationGridMap2D */
    float min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
    /** The kind of map representation (see
     * CGasConcentrationGridMap2D::CGasConcentrationGridMap2D) */
    mrpt::maps::CGasConcentrationGridMap2D::TMapRepresentation mapType{
        CGasConcentrationGridMap2D::mrKernelDM};
    /** Observations insertion options */
    mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions insertionOpts;
    MAP_DEFINITION_END(CGasConcentrationGridMap2D)
};

}  // namespace mrpt::maps