mrpt::maps::CGasConcentrationGridMap2D Class Reference

Detailed Description

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()

See also

mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::containers::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

Definition at line 32 of file CGasConcentrationGridMap2D.h.

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::maps::CGasConcentrationGridMap2D:

Classes
struct	TGaussianCell
struct	TGaussianWindTable
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_SD }
	The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...
enum	TGridInterpolationMethod { gimNearest = 0, gimBilinear }

Public Member Functions
	CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1f)
	Constructor. More...
	~CGasConcentrationGridMap2D () override
	Destructor. More...
void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...
void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &meanObj, mrpt::opengl::CSetOfObjects::Ptr &varObj) const override
	Returns two 3D objects representing the mean and variance maps. More...
void	getWindAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &windObj) const
	Returns the 3D object representing the wind grid information. More...
virtual void	increaseUncertainty (const double STD_increase_value)
	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. More...
bool	simulateAdvection (double STD_increase_value)
	Implements the transition model of the gasConcentration map using the information of the wind maps. 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 override
virtual float	cell2float (const TRandomFieldCell &) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
bool	isEmpty () const override
	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	getAsBitmapFile (mrpt::img::CImage &out_img) const
	Returns an image just as described in saveAsBitmapFile. More...
virtual void	getAsMatrix (mrpt::math::CMatrixDouble &out_mat) const
	Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map) More...
void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix. More...
void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=1.0f) override
	Changes the size of the grid, maintaining previous contents. More...
virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...
virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=nullptr)
	Changes the size of the grid, erasing previous contents. More...
void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...
void	setCellsConnectivity (const ConnectivityDescriptor::Ptr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between cells. More...
float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	See docs in base class: in this class this always returns 0. More...
void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	The implementation in this class just calls all the corresponding method of the contained metric maps. More...
virtual 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	getAsMatlab3DGraphScript (std::string &out_script) const
	Return a large text block with a MATLAB script to plot the contents of this map. More...
TMapRepresentation	getMapType ()
	Return the type of the random-field grid map, according to parameters passed on construction. More...
void	insertIndividualReading (const double sensorReading, const mrpt::math::TPoint2D &point, const bool update_map=true, const bool time_invariant=true, const double reading_stddev=.0)
	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, bool do_sensor_normalization, const TGridInterpolationMethod interp_method=gimNearest)
	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	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations. More...
void	enableVerbose (bool enable_verbose)
bool	isEnabledVerbose () const
void	enableProfiler (bool enable=true)
bool	isProfilerEnabled () const
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)
	! More...
bool	insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	Insert the observation information into this map. More...
bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	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) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
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) const
	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::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matching between this and another 2D point map, which includes finding: More...
virtual void	determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
virtual const mrpt::maps::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...
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...
void	fill (const TRandomFieldCell &value)
	Fills all the cells with the same value. More...
TRandomFieldCell *	cellByPos (double x, double y)
	Returns a pointer to the contents of a cell given by its coordinates, or nullptr if it is out of the map extensions. More...
const TRandomFieldCell *	cellByPos (double x, double y) const
TRandomFieldCell *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or nullptr 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 nullptr 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...
double	getXMin () const
	Returns the "x" coordinate of left side of grid map. More...
double	getXMax () const
	Returns the "x" coordinate of right side of grid map. More...
double	getYMin () const
	Returns the "y" coordinate of top side of grid map. More...
double	getYMax () const
	Returns the "y" coordinate of bottom side of grid map. More...
double	getResolution () const
	Returns the resolution of the grid map. More...
int	x2idx (double x) const
	Transform a coordinate values into cell indexes. More...
int	y2idx (double y) const
int	xy2idx (double x, double y) const
void	idx2cxcy (int idx, int &cx, int &cy) const
	Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...
double	idx2x (int cx) const
	Transform a cell index into a coordinate value of the cell central point. More...
double	idx2y (int cy) const
bool	saveToTextFile (const std::string &fileName) const
	Saves a float representation of the grid (via "cell2float()") to a text file. More...
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions	insertionOptions
TGaussianWindTable	LUT
TMapGenericParams	genericMapParams
	Common params to all maps. More...

Protected Member Functions
CRandomFieldGridMap2D::TInsertionOptionsCommon *	getCommonInsertOptions () override
	Get the part of the options common to all CRandomFieldGridMap2D classes. More...
void	internal_clear () override
	Internal method called by clear() More...
bool	internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
	Internal method called by insertObservation() More...
double	internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() More...
bool	build_Gaussian_Wind_Grid ()
	Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value. More...
bool	save_Gaussian_Wind_Grid_To_File ()
bool	load_Gaussian_Wind_Grid_From_File ()
void	insertObservation_KernelDM_DMV (double 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 (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model. More...
void	insertObservation_KF2 (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model. More...
void	insertObservation_GMRF (double normReading, const mrpt::math::TPoint2D &point, const bool update_map, const bool time_invariant, const double reading_information)
	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...
void	dyngridcommon_writeToStream (STREAM &out) const
void	dyngridcommon_readFromStream (STREAM &in, bool cast_from_float=false)
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...
CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
mrpt::containers::CDynamicGrid< double >	windGrid_module
	Gridmaps of the wind Direction/Module. More...
mrpt::containers::CDynamicGrid< double >	windGrid_direction
mrpt::system::TTimeStamp	timeLastSimulated
	The timestamp of the last time the advection simulation was executed. More...
bool	m_rfgm_run_update_upon_clear {true}
TInsertionOptionsCommon *	m_insertOptions_common {nullptr}
	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 {true}
	Only for the KF2 implementation. More...
ConnectivityDescriptor::Ptr	m_gmrf_connectivity
	Empty: default. More...
mrpt::graphs::ScalarFactorGraph	m_gmrf
std::vector< std::list< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information. More...
std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...
std::vector< TRandomFieldCell >	m_map
	The cells. More...
double	m_x_min
double	m_x_max
double	m_y_min
double	m_y_max
double	m_resolution
size_t	m_size_x
size_t	m_size_y
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
Auxiliary vars for DM & DM+V methods
float	m_DM_lastCutOff {0}
std::vector< float >	m_DM_gaussWindow
double	m_average_normreadings_mean {0}
double	m_average_normreadings_var {0}
size_t	m_average_normreadings_count {0}

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CGasConcentrationGridMap2D >
using	ConstPtr = std::shared_ptr< const mrpt::maps ::CGasConcentrationGridMap2D >
using	UniquePtr = std::unique_ptr< mrpt::maps ::CGasConcentrationGridMap2D >
using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CGasConcentrationGridMap2D >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::maps" "::" "CGasConcentrationGridMap2D"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CGasConcentrationGridMap2D,gasGrid" , & mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition, & mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...
static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...
static CGasConcentrationGridMap2D *	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)

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Typedef Documentation

ConstPtr

using mrpt::maps::CGasConcentrationGridMap2D::ConstPtr = std::shared_ptr<const mrpt::maps :: CGasConcentrationGridMap2D >

Definition at line 34 of file CGasConcentrationGridMap2D.h.

ConstUniquePtr

using mrpt::maps::CGasConcentrationGridMap2D::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CGasConcentrationGridMap2D >

Definition at line 34 of file CGasConcentrationGridMap2D.h.

Ptr

using mrpt::maps::CGasConcentrationGridMap2D::Ptr = std::shared_ptr< mrpt::maps :: CGasConcentrationGridMap2D >

A type for the associated smart pointer

Definition at line 34 of file CGasConcentrationGridMap2D.h.

UniquePtr

using mrpt::maps::CGasConcentrationGridMap2D::UniquePtr = std::unique_ptr< mrpt::maps :: CGasConcentrationGridMap2D >

Definition at line 34 of file CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

TGridInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap2D::TGridInterpolationMethod

inherited

Enumerator
gimNearest
gimBilinear

Definition at line 426 of file CRandomFieldGridMap2D.h.

TMapRepresentation

enum mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation

inherited

The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.

Enumerator
mrKernelDM	Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrAchim	Another alias for "mrKernelDM", for backwards compatibility (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKalmanFilter	"Brute-force" Kalman filter (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKalmanApproximate	(see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrKernelDMV	Double mean + variance Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)
mrGMRF_SD	Gaussian Markov Random Field, squared differences prior weights between 4 neighboring cells (see discussion in mrpt::maps::CRandomFieldGridMap2D)

Definition at line 175 of file CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

CGasConcentrationGridMap2D()

mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D	(	TMapRepresentation	mapType = mrAchim,
		float	x_min = -2,
		float	x_max = 2,
		float	y_min = -2,
		float	y_max = 2,
		float	resolution = 0.1f
	)

Constructor.

~CGasConcentrationGridMap2D()

CGasConcentrationGridMap2D::~CGasConcentrationGridMap2D ( )

overridedefault

Destructor.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::_GetBaseClass ( )

staticprotected

auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 282 of file CMetricMap.h.

build_Gaussian_Wind_Grid()

bool CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid ( )

protected

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value.

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific condition.

The LUT contains the values of the Gaussian Weigths and the references to the cell indexes to be applied. Since the LUT is independent of the wind direction and angle, it generates the Gaussian Weights for different configurations of wind angle and module values.

To increase precission, each cell of the grid is sub-divided in subcells of smaller size.

cell_i --> Cell origin (We consider our reference system in the bottom left

corner of cell_i ). Is the cell that contains the gas measurement which will be propagated by the wind. The wind propagates in the shape of a 2D Gaussian with center in the target cell (cell_j) cell_j –> Target cell. Is the cell where falls the center of the Gaussian that models the propagation of the gas comming from cell_i.

Definition at line 872 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::advectionFreq, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cx, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cy, mrpt::system::os::fclose(), mrpt::system::fileExists(), mrpt::system::os::fopen(), mrpt::format(), mrpt::system::os::fprintf(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getResolution(), insertionOptions, load_Gaussian_Wind_Grid_From_File(), LUT, LUT_TABLE, M_PI, M_PIf, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::resolution, mrpt::round(), save_Gaussian_Wind_Grid_To_File(), mrpt::square(), mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_phi, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_r, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_mod, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_phi, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::table, and mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::value.

Referenced by internal_clear().

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canComputeObservationLikelihood()

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation &  obs ) const

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). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also

computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 161 of file CMetricMap.cpp.

canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame &  sf ) const

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). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also

canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

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cell2float() [1/2]

float mrpt::maps::CRandomFieldGridMap2D::cell2float ( const TRandomFieldCell &  c ) const

inlineoverrideinherited

Definition at line 167 of file CRandomFieldGridMap2D.h.

References mrpt::d2f(), and mrpt::maps::TRandomFieldCell::kf_mean().

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cell2float() [2/2]

virtual float mrpt::containers::CDynamicGrid< TRandomFieldCell >::cell2float ( const TRandomFieldCell &  ) const

inlinevirtualinherited

The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value.

Definition at line 310 of file CDynamicGrid.h.

cellByIndex() [1/2]

TRandomFieldCell * mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex ( unsigned int  cx, unsigned int  cy  )

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions.

Definition at line 222 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

cellByIndex() [2/2]

const TRandomFieldCell * mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex ( unsigned int  cx, unsigned int  cy  ) const

inlineinherited

Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions.

Definition at line 233 of file CDynamicGrid.h.

cellByPos() [1/2]

TRandomFieldCell * mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos ( double  x, double  y  )

inlineinherited

Returns a pointer to the contents of a cell given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 201 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

cellByPos() [2/2]

const TRandomFieldCell * mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos ( double  x, double  y  ) const

inlineinherited

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

Definition at line 210 of file CDynamicGrid.h.

clear()

void mrpt::maps::CRandomFieldGridMap2D::clear ( )

inlineinherited

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

Definition at line 165 of file CRandomFieldGridMap2D.h.

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

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clone()

virtual mrpt::rtti::CObject* mrpt::maps::CGasConcentrationGridMap2D::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

compute3DMatchingRatio()

float CRandomFieldGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose3D &  otherMapPose, const TMatchingRatioParams &  params  ) const

overridevirtualinherited

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 2709 of file CRandomFieldGridMap2D.cpp.

computeConfidenceCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV ( const TRandomFieldCell *  cell ) const

protectedinherited

Computes the confidence of the cell concentration (alpha)

Definition at line 1972 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean_w(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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computeMeanCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV ( const TRandomFieldCell *  cell ) const

protectedinherited

Computes the average cell concentration, or the overall average value if it has never been observed.

Definition at line 1984 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean(), mrpt::maps::TRandomFieldCell::dm_mean_w(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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computeObservationLikelihood() [1/2]

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

inherited

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

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns

This method returns a log-likelihood.

See also

Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 170 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

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computeObservationLikelihood() [2/2]

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

inherited

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

Definition at line 76 of file CMetricMap.cpp.

computeObservationsLikelihood()

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

inherited

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

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns

This method returns a log-likelihood.

See also

canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

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computeVarCellValue_DM_DMV()

double CRandomFieldGridMap2D::computeVarCellValue_DM_DMV ( const TRandomFieldCell *  cell ) const

protectedinherited

Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed.

Definition at line 1999 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TRandomFieldCell::dm_mean_w(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega, mrpt::maps::TRandomFieldCell::dmv_var_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, and mrpt::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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Create()

template<typename... Args>

static Ptr mrpt::maps::CGasConcentrationGridMap2D::Create ( Args &&...  args )

inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CGasConcentrationGridMap2D::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

CreateFromMapDefinition()

mrpt::maps::CGasConcentrationGridMap2D * mrpt::maps::CGasConcentrationGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer &  def )

static

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

Definition at line 40 of file CGasConcentrationGridMap2D.cpp.

CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CGasConcentrationGridMap2D::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CGasConcentrationGridMap2D::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

determineMatching2D()

void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose2D &  otherMapPose, mrpt::tfest::TMatchingPairList &  correspondences, const TMatchingParams &  params, TMatchingExtraResults &  extraResults  ) const

virtualinherited

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

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

The algorithm is:

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

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

Parameters

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

See also

compute3DMatchingRatio

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap3D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.

Definition at line 119 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

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determineMatching3D()

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap *  otherMap, const mrpt::poses::CPose3D &  otherMapPose, mrpt::tfest::TMatchingPairList &  correspondences, const TMatchingParams &  params, TMatchingExtraResults &  extraResults  ) const

virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

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

The algorithm is:

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

Parameters

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

See also

compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 131 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

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dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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dyngridcommon_readFromStream()

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream ( STREAM &  in, bool  cast_from_float = false  )

inlineprotectedinherited

Definition at line 342 of file CDynamicGrid.h.

Referenced by serializeFrom(), and mrpt::maps::CWirelessPowerGridMap2D::serializeFrom().

dyngridcommon_writeToStream()

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream ( STREAM &  out ) const

inlineprotectedinherited

Definition at line 334 of file CDynamicGrid.h.

Referenced by serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().

enableProfiler()

void mrpt::maps::CRandomFieldGridMap2D::enableProfiler ( bool  enable = true )

inlineinherited

Definition at line 480 of file CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::enableProfiler(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

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enableVerbose()

void mrpt::maps::CRandomFieldGridMap2D::enableVerbose ( bool  enable_verbose )

inlineinherited

Definition at line 471 of file CRandomFieldGridMap2D.h.

References mrpt::system::LVL_DEBUG, and mrpt::system::COutputLogger::setMinLoggingLevel().

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exist_relation_between2cells()

bool CRandomFieldGridMap2D::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  )

protectedinherited

Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap.

Definition at line 2596 of file CRandomFieldGridMap2D.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), and mrpt::math::CMatrixDynamic< T >::rows().

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fill()

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::fill ( const TRandomFieldCell &  value )

inlineinherited

Fills all the cells with the same value.

Definition at line 109 of file CDynamicGrid.h.

getAs3DObject() [1/2]

void CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  outObj ) const

overridevirtual

Returns a 3D object representing the map.

Implements mrpt::maps::CMetricMap.

Definition at line 547 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

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getAs3DObject() [2/2]

void CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  meanObj, mrpt::opengl::CSetOfObjects::Ptr &  varObj  ) const

overridevirtual

Returns two 3D objects representing the mean and variance maps.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 559 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

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getAsBitmapFile()

void CRandomFieldGridMap2D::getAsBitmapFile ( mrpt::img::CImage &  out_img ) const

virtualinherited

Returns an image just as described in saveAsBitmapFile.

Definition at line 848 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), MRPT_END, MRPT_START, and mrpt::img::CImage::setFromMatrix().

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile().

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getAsMatlab3DGraphScript()

void mrpt::maps::CRandomFieldGridMap2D::getAsMatlab3DGraphScript ( std::string &  out_script ) const

inherited

Return a large text block with a MATLAB script to plot the contents of this map.

See also

saveAsMatlab3DGraph This method can only be called in a KF map model

getAsMatrix() [1/2]

void CRandomFieldGridMap2D::getAsMatrix ( mrpt::math::CMatrixDouble &  out_mat ) const

virtualinherited

Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map)

Like saveAsBitmapFile(), but returns the data in matrix form.

Definition at line 803 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::TRandomFieldCell::gmrf_mean(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::math::CMatrixDynamic< T >::resize(), mrpt::saturate(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile().

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getAsMatrix() [2/2]

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::getAsMatrix ( MAT &  m ) const

inlineinherited

Get the entire grid as a matrix.

Template Parameters

MAT	The type of the matrix, typically a mrpt::math::CMatrixDouble.

Parameters

[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).

Note

This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 299 of file CDynamicGrid.h.

getAsSimplePointsMap() [1/2]

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

inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return nullptr

Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 295 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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getAsSimplePointsMap() [2/2]

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

inlineinherited

Definition at line 299 of file CMetricMap.h.

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

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getClassName()

static constexpr auto mrpt::maps::CGasConcentrationGridMap2D::getClassName ( )

inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

getCommonInsertOptions()

CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::maps::CGasConcentrationGridMap2D::getCommonInsertOptions ( )

inlineoverrideprotectedvirtual

Get the part of the options common to all CRandomFieldGridMap2D classes.

Implements mrpt::maps::CRandomFieldGridMap2D.

Definition at line 142 of file CGasConcentrationGridMap2D.h.

References insertionOptions.

getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMapType()

CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )

inherited

Return the type of the random-field grid map, according to parameters passed on construction.

Definition at line 2448 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType.

getMeanAndCov()

void CRandomFieldGridMap2D::getMeanAndCov ( mrpt::math::CVectorDouble &  out_means, mrpt::math::CMatrixDouble &  out_cov  ) const

inherited

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2399 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), and mrpt::math::CVectorDynamic< T >::resize().

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getMeanAndSTD()

void CRandomFieldGridMap2D::getMeanAndSTD ( mrpt::math::CVectorDouble &  out_means, mrpt::math::CVectorDouble &  out_STD  ) const

inherited

Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2414 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::math::CVectorDynamic< T >::resize().

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getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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getResolution()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getResolution ( ) const

inlineinherited

Returns the resolution of the grid map.

Definition at line 254 of file CDynamicGrid.h.

Referenced by build_Gaussian_Wind_Grid(), and getWindAs3DObject().

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CGasConcentrationGridMap2D::GetRuntimeClassIdStatic ( )

static

getSizeX()

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeX ( ) const

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 242 of file CDynamicGrid.h.

Referenced by simulateAdvection().

getSizeY()

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeY ( ) const

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 244 of file CDynamicGrid.h.

Referenced by simulateAdvection().

getWindAs3DObject()

void CGasConcentrationGridMap2D::getWindAs3DObject

(

mrpt::opengl::CSetOfObjects::Ptr &

windObj

)

const

Returns the 3D object representing the wind grid information.

Definition at line 572 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< T >::cellByPos(), mrpt::opengl::CArrow::Create(), mrpt::d2f(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getResolution(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMax(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMin(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMax(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMin(), mrpt::img::jet2rgb(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, windGrid_direction, and windGrid_module.

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getXMax()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMax ( ) const

inlineinherited

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

Definition at line 248 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

getXMin()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMin ( ) const

inlineinherited

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

Definition at line 246 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

getYMax()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMax ( ) const

inlineinherited

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

Definition at line 252 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

getYMin()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMin ( ) const

inlineinherited

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

Definition at line 250 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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idx2cxcy()

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy ( int  idx, int &  cx, int &  cy  ) const

inlineinherited

Transform a global (linear) cell index value into its corresponding (x,y) cell indexes.

Definition at line 271 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), and simulateAdvection().

idx2x()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2x ( int  cx ) const

inlineinherited

Transform a cell index into a coordinate value of the cell central point.

Definition at line 279 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

idx2y()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2y ( int  cy ) const

inlineinherited

Definition at line 283 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

increaseUncertainty()

void CGasConcentrationGridMap2D::increaseUncertainty ( const double  STD_increase_value )

virtual

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.

Definition at line 637 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

Referenced by simulateAdvection().

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insertIndividualReading()

void CRandomFieldGridMap2D::insertIndividualReading ( const double  sensorReading, const mrpt::math::TPoint2D &  point, const bool  update_map = true, const bool  time_invariant = true, const double  reading_stddev = .0  )

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.

Parameters

[in]	sensorReading	The value observed in the (x,y) position
[in]	point	The (x,y) location
[in]	update_map	Run a global map update after inserting this observatin (algorithm-dependant)
[in]	time_invariant	Whether the observation "vanishes" with time (false) or not (true) [Only for GMRF methods]
[in]	reading_stddev	The uncertainty (standard deviation) of the reading. Default="0.0" means use the default settings per map-wide parameters.

Definition at line 2473 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::square(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), and internal_insertObservation().

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insertObservation()

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

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.

See also

CObservation::insertObservationInto

Definition at line 93 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

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insertObservation_GMRF()

void CRandomFieldGridMap2D::insertObservation_GMRF ( double  normReading, const mrpt::math::TPoint2D &  point, const bool  update_map, const bool  time_invariant, const double  reading_information  )

protectedinherited

The implementation of "insertObservation" for the Gaussian Markov Random Field map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 2509 of file CRandomFieldGridMap2D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda, mrpt::maps::CRandomFieldGridMap2D::m_gmrf, mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant, mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF(), mrpt::math::TPoint2D_data< T >::x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D_data< T >::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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insertObservation_KernelDM_DMV()

void CRandomFieldGridMap2D::insertObservation_KernelDM_DMV ( double  normReading, const mrpt::math::TPoint2D &  point, bool  is_DMV  )

protectedinherited

The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V.

Parameters

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
normReading	Is a [0,1] normalized concentration reading.
is_DMV	= false -> map type is Kernel DM; true -> map type is DM+V

Definition at line 584 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::TRandomFieldCell::dm_mean(), mrpt::maps::TRandomFieldCell::dm_mean_w(), mrpt::maps::TRandomFieldCell::dmv_var_mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, resize(), mrpt::round(), mrpt::square(), mrpt::math::TPoint2D_data< T >::x, and mrpt::math::TPoint2D_data< T >::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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insertObservation_KF()

void CRandomFieldGridMap2D::insertObservation_KF ( double  normReading, const mrpt::math::TPoint2D &  point  )

protectedinherited

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 1179 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::system::os::memcpy(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::math::TPoint2D_data< T >::x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D_data< T >::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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insertObservation_KF2()

void CRandomFieldGridMap2D::insertObservation_KF2 ( double  normReading, const mrpt::math::TPoint2D &  point  )

protectedinherited

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters

normReading	Is a [0,1] normalized concentration reading.
point	Is the sensor location on the map

Definition at line 2170 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION_FMT, mrpt::system::CTicTac::Tic(), mrpt::math::TPoint2D_data< T >::x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::x2idx(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx(), mrpt::math::TPoint2D_data< T >::y, and mrpt::containers::CDynamicGrid< TRandomFieldCell >::y2idx().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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insertObservationPtr()

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservation::Ptr &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

inherited

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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internal_clear()

void CGasConcentrationGridMap2D::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 134 of file CGasConcentrationGridMap2D.cpp.

References build_Gaussian_Wind_Grid(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_direction, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_speed, mrpt::containers::CDynamicGrid< T >::fill(), insertionOptions, mrpt::maps::CRandomFieldGridMap2D::internal_clear(), THROW_EXCEPTION, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation, windGrid_direction, and windGrid_module.

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internal_computeObservationLikelihood()

double CGasConcentrationGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D &  takenFrom  )

overrideprotectedvirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 283 of file CGasConcentrationGridMap2D.cpp.

References THROW_EXCEPTION.

internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CGasConcentrationGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer &  def )

static

Definition at line 84 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::insertionOpts, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::mapType, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::max_x, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::max_y, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::min_x, mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::min_y, and mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition::resolution.

internal_insertObservation()

bool CGasConcentrationGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation &  obs, const mrpt::poses::CPose3D *  robotPose = nullptr  )

overrideprotectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 172 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::d2f(), mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::enose_id, mrpt::obs::CObservationGasSensors::TObservationENose::eNosePoseOnTheRobot, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorLabel, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorType, mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading(), insertionOptions, IS_CLASS, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::math::mean(), MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::obs::CObservationGasSensors::TObservationENose::readingsVoltage, mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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isEmpty()

bool CRandomFieldGridMap2D::isEmpty ( ) const

overridevirtualinherited

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.

Definition at line 575 of file CRandomFieldGridMap2D.cpp.

isEnabledVerbose()

bool mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose ( ) const

inlineinherited

Definition at line 475 of file CRandomFieldGridMap2D.h.

References mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::LVL_DEBUG.

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isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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isProfilerEnabled()

bool mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled ( ) const

inlineinherited

Definition at line 484 of file CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::isProfilerEnabled(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

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load_Gaussian_Wind_Grid_From_File()

bool CGasConcentrationGridMap2D::load_Gaussian_Wind_Grid_From_File ( )

protected

Definition at line 1377 of file CGasConcentrationGridMap2D.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cx, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cy, mrpt::io::CFileGZInputStream::fileOpenCorrectly(), mrpt::format(), LUT, LUT_TABLE, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::resolution, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_phi, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_r, and mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::value.

Referenced by build_Gaussian_Wind_Grid().

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loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap &  Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also

insertObservation, CSimpleMap

Exceptions

std::exception

Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

References ASSERTMSG_, mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap &  Map )

inlineinherited

!

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

Definition at line 106 of file CMetricMap.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, std::string_view  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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m_map_castaway_const()

std::vector<TRandomFieldCell >& mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 45 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CGasConcentrationGridMap2D::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 40 of file CGasConcentrationGridMap2D.cpp.

predictMeasurement()

void CRandomFieldGridMap2D::predictMeasurement ( const double  x, const double  y, double &  out_predict_response, double &  out_predict_response_variance, bool  do_sensor_normalization, const TGridInterpolationMethod  interp_method = gimNearest  )

virtualinherited

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

Parameters

[in]	x	Query X coordinate
[in]	y	Query Y coordinate
[out]	out_predict_response	The output value
[out]	out_predict_response_variance	The output variance
[in]	do_sensor_normalization	Whether to renormalize the prediction to a predefined interval (R values in insertionOptions)
[in]	interp_method	Interpolation method

Definition at line 2021 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::gimBilinear, mrpt::maps::CRandomFieldGridMap2D::gimNearest, mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::TRandomFieldCell::kf_std(), mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::square(), THROW_EXCEPTION, mrpt::containers::CDynamicGrid< TRandomFieldCell >::x2idx(), and mrpt::containers::CDynamicGrid< TRandomFieldCell >::y2idx().

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publishEvent()

void CObservable::publishEvent ( const mrptEvent &  e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), mrpt::opengl::COpenGLViewport::render(), and mrpt::opengl::COpenGLViewport::renderNormalSceneMode().

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recoverMeanAndCov()

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const

protectedinherited

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See also

m_hasToRecoverMeanAndCov

Definition at line 2385 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map_castaway_const(), mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), and simulateAdvection().

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resize() [1/2]

virtual void mrpt::containers::CDynamicGrid< TRandomFieldCell >::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, const TRandomFieldCell &  defaultValueNewCells, double  additionalMarginMeters = 2.0  )

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 117 of file CDynamicGrid.h.

resize() [2/2]

void CRandomFieldGridMap2D::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, const TRandomFieldCell &  defaultValueNewCells, double  additionalMarginMeters = 1.0f  )

overrideinherited

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 861 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_std(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::system::os::memcpy(), mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_LOG_DEBUG_FMT, MRPT_START, resize(), mrpt::round(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

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save_Gaussian_Wind_Grid_To_File()

bool CGasConcentrationGridMap2D::save_Gaussian_Wind_Grid_To_File ( )

protected

Definition at line 1316 of file CGasConcentrationGridMap2D.cpp.

References mrpt::serialization::archiveFrom(), mrpt::io::CFileGZOutputStream::fileOpenCorrectly(), mrpt::format(), LUT, LUT_TABLE, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::resolution, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_phi, and mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_r.

Referenced by build_Gaussian_Wind_Grid().

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saveAsBitmapFile()

void CRandomFieldGridMap2D::saveAsBitmapFile ( const std::string &  filName ) const

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.

See also

getAsBitmapFile()

Definition at line 791 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile(), MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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saveAsMatlab3DGraph()

void CRandomFieldGridMap2D::saveAsMatlab3DGraph ( const std::string &  filName ) const

virtualinherited

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.

See also

getAsMatlab3DGraphScript

Definition at line 1444 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::TRandomFieldCell::kf_std(), mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::saturate_val(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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saveMetricMapRepresentationToFile()

void CRandomFieldGridMap2D::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix ) const

overridevirtualinherited

The implementation in this class just calls all the corresponding method of the contained metric maps.

Implements mrpt::maps::CMetricMap.

Definition at line 1299 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::TRandomFieldCell::gmrf_mean(), mrpt::maps::TRandomFieldCell::gmrf_std(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::TRandomFieldCell::kf_mean(), mrpt::maps::TRandomFieldCell::kf_std(), mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::math::MATRIX_FORMAT_FIXED, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::img::CImage::saveToFile(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::img::CImage::setFromMatrix(), and THROW_EXCEPTION.

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saveToTextFile()

bool mrpt::containers::CDynamicGrid< TRandomFieldCell >::saveToTextFile ( const std::string &  fileName ) const

inlineinherited

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

Returns

false on error

Definition at line 313 of file CDynamicGrid.h.

serializeFrom() [1/2]

void CGasConcentrationGridMap2D::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

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.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 342 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius, mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::math::mean(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::serialization::CArchive::ReadBuffer(), and mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma.

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serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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serializeGetVersion()

uint8_t CGasConcentrationGridMap2D::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 290 of file CGasConcentrationGridMap2D.cpp.

serializeTo() [1/2]

void CGasConcentrationGridMap2D::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 291 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius, mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, out, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, and mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma.

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serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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setCellsConnectivity()

void CRandomFieldGridMap2D::setCellsConnectivity ( const ConnectivityDescriptor::Ptr &  new_connectivity_descriptor )

inherited

Sets a custom object to define the connectivity between cells.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 74 of file CRandomFieldGridMap2D.cpp.

setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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setMeanAndSTD()

void CRandomFieldGridMap2D::setMeanAndSTD ( mrpt::math::CVectorDouble &  out_means, mrpt::math::CVectorDouble &  out_STD  )

inherited

Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods).

Definition at line 2431 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::math::CVectorDynamic< T >::size(), and mrpt::square().

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setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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setSize() [1/2]

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  resolution, const TRandomFieldCell *  fill_value = nullptr  )

inlineinherited

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

If fill_value is left as nullptr, 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 nullptr, it is assured that all cells will have a copy of that value after resizing.

See also

resize, fill

Definition at line 74 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::setSize().

setSize() [2/2]

void CRandomFieldGridMap2D::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  resolution, const TRandomFieldCell *  fill_value = nullptr  )

virtualinherited

Changes the size of the grid, erasing previous contents.

Parameters

[in]

connectivity_descriptor

Optional user-supplied object that will visit all grid cells to define their connectivity with neighbors and the strength of existing edges. If present, it overrides all options in insertionOptions

See also

resize

resize

Definition at line 64 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), and mrpt::containers::CDynamicGrid< TRandomFieldCell >::setSize().

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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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simulateAdvection()

bool CGasConcentrationGridMap2D::simulateAdvection

(

double

STD_increase_value

)

Implements the transition model of the gasConcentration map using the information of the wind maps.

Definition at line 671 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeY(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), increaseUncertainty(), insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, LUT, LUT_TABLE, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::system::now(), mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::round(), mrpt::square(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::system::timeDifference(), timeLastSimulated, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation, windGrid_direction, and windGrid_module.

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squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence ( float  x0, float  y0  ) const

virtualinherited

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

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 153 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

updateMapEstimation()

void CRandomFieldGridMap2D::updateMapEstimation ( )

inherited

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations.

Definition at line 2453 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, THROW_EXCEPTION, and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

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updateMapEstimation_GMRF()

void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )

protectedinherited

solves the minimum quadratic system to determine the new concentration of each cell

Definition at line 2545 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::graphs::ScalarFactorGraph::eraseConstraint(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance, mrpt::maps::CRandomFieldGridMap2D::m_gmrf, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs, mrpt::saturate(), mrpt::math::CVectorDynamic< T >::size(), and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation().

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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

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

Returns

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

Definition at line 90 of file CSerializable.h.

x2idx()

int mrpt::containers::CDynamicGrid< TRandomFieldCell >::x2idx ( double  x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 256 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), and mrpt::maps::CRandomFieldGridMap2D::predictMeasurement().

xy2idx()

int mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx ( double  x, double  y  ) const

inlineinherited

Definition at line 264 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

y2idx()

int mrpt::containers::CDynamicGrid< TRandomFieldCell >::y2idx ( double  y ) const

inlineinherited

Definition at line 260 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), and mrpt::maps::CRandomFieldGridMap2D::predictMeasurement().

Member Data Documentation

className

constexpr const char* mrpt::maps::CGasConcentrationGridMap2D::className = "mrpt::maps" "::" "CGasConcentrationGridMap2D"

static

Definition at line 34 of file CGasConcentrationGridMap2D.h.

genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CReflectivityGridMap2D::serializeFrom(), mrpt::maps::CHeightGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), serializeTo(), mrpt::maps::CReflectivityGridMap2D::serializeTo(), and mrpt::maps::CHeightGridMap2D::serializeTo().

insertionOptions

mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions mrpt::maps::CGasConcentrationGridMap2D::insertionOptions

Referenced by build_Gaussian_Wind_Grid(), getCommonInsertOptions(), internal_clear(), internal_insertObservation(), serializeFrom(), serializeTo(), and simulateAdvection().

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

LUT

TGaussianWindTable mrpt::maps::CGasConcentrationGridMap2D::LUT

Definition at line 137 of file CGasConcentrationGridMap2D.h.

Referenced by build_Gaussian_Wind_Grid(), load_Gaussian_Wind_Grid_From_File(), save_Gaussian_Wind_Grid_To_File(), and simulateAdvection().

m_average_normreadings_count

size_t mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count {0}

protectedinherited

Definition at line 521 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().

m_average_normreadings_mean

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean {0}

protectedinherited

Definition at line 520 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().

m_average_normreadings_var

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var {0}

protectedinherited

Definition at line 520 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().

m_cov

mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_cov

protectedinherited

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 504 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().

m_DM_gaussWindow

std::vector<float> mrpt::maps::CRandomFieldGridMap2D::m_DM_gaussWindow

protectedinherited

Definition at line 519 of file CRandomFieldGridMap2D.h.

m_DM_lastCutOff

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff {0}

protectedinherited

Definition at line 518 of file CRandomFieldGridMap2D.h.

m_gmrf

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap2D::m_gmrf

protectedinherited

Definition at line 527 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableProfiler(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::isProfilerEnabled(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

m_gmrf_connectivity

ConnectivityDescriptor::Ptr mrpt::maps::CRandomFieldGridMap2D::m_gmrf_connectivity

protectedinherited

Empty: default.

Definition at line 525 of file CRandomFieldGridMap2D.h.

m_hasToRecoverMeanAndCov

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov {true}

mutableprotectedinherited

Only for the KF2 implementation.

Definition at line 514 of file CRandomFieldGridMap2D.h.

Referenced by increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), and simulateAdvection().

m_insertOptions_common

TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common {nullptr}

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 492 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

m_map

std::vector<TRandomFieldCell > mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map

protectedinherited

The cells.

Definition at line 42 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::getMeanAndSTD(), getWindAs3DObject(), increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), simulateAdvection(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

m_mapType

TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType

protectedinherited

The map representation type of this map, as passed in the constructor.

Definition at line 500 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::getMapType(), mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), serializeTo(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation().

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

m_mrf_factors_activeObs

std::vector<std::list<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs

protectedinherited

Vector with the active observations and their respective Information.

Definition at line 575 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

m_mrf_factors_priors

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_priors

protectedinherited

Vector with the precomputed priors for each GMRF model.

Definition at line 577 of file CRandomFieldGridMap2D.h.

m_private_map_register_id

const size_t mrpt::maps::CGasConcentrationGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CGasConcentrationGridMap2D,gasGrid" , & mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition, & mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 181 of file CGasConcentrationGridMap2D.h.

m_resolution

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), and mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph().

m_rfgm_run_update_upon_clear

bool mrpt::maps::CRandomFieldGridMap2D::m_rfgm_run_update_upon_clear {true}

protectedinherited

Definition at line 487 of file CRandomFieldGridMap2D.h.

m_size_x

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

m_size_y

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

m_stackedCov

mrpt::math::CMatrixD mrpt::maps::CRandomFieldGridMap2D::m_stackedCov

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 512 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getMeanAndSTD(), increaseUncertainty(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), serializeTo(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CRandomFieldGridMap2D::setMeanAndSTD(), and simulateAdvection().

m_x_max

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

m_x_min

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

m_y_max

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

m_y_min

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CGasConcentrationGridMap2D::runtimeClassId

staticprotected

Definition at line 34 of file CGasConcentrationGridMap2D.h.

timeLastSimulated

mrpt::system::TTimeStamp mrpt::maps::CGasConcentrationGridMap2D::timeLastSimulated

protected

The timestamp of the last time the advection simulation was executed.

Definition at line 170 of file CGasConcentrationGridMap2D.h.

Referenced by simulateAdvection().

windGrid_direction

mrpt::containers::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_direction

protected

Definition at line 167 of file CGasConcentrationGridMap2D.h.

Referenced by getWindAs3DObject(), internal_clear(), and simulateAdvection().

windGrid_module

mrpt::containers::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_module

protected

Gridmaps of the wind Direction/Module.

Definition at line 167 of file CGasConcentrationGridMap2D.h.

Referenced by getWindAs3DObject(), internal_clear(), and simulateAdvection().