mrpt::maps::CHeightGridMap2D_Base Class Reference

Detailed Description

Virtual base class for Digital Elevation Model (DEM) maps.

See derived classes for details. This class implements those operations which are especific to DEMs.

Definition at line 22 of file CHeightGridMap2D_Base.h.

#include <mrpt/maps/CHeightGridMap2D_Base.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D_Base:

Classes
struct	TPointInsertParams
	Extra params for insertIndividualPoint() More...

Public Member Functions
	CHeightGridMap2D_Base ()
virtual	~CHeightGridMap2D_Base ()
bool	dem_internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
	Internal method called by internal_insertObservation() More...
Specific API for Digital Elevation Model (DEM) maps
bool	intersectLine3D (const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
	Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell) More...
bool	getMinMaxHeight (float &z_min, float &z_max) const
	Computes the minimum and maximum height in the grid. More...
virtual bool	insertIndividualPoint (const double x, const double y, const double z, const TPointInsertParams &params=TPointInsertParams())=0
	Update the DEM with one new point. More...
virtual double	dem_get_resolution () const =0
virtual size_t	dem_get_size_x () const =0
virtual size_t	dem_get_size_y () const =0
virtual bool	dem_get_z_by_cell (const size_t cx, const size_t cy, double &z_out) const =0
	Get cell 'z' by (cx,cy) cell indices. More...
virtual bool	dem_get_z (const double x, const double y, double &z_out) const =0
	Get cell 'z' (x,y) by metric coordinates. More...
virtual void	dem_update_map ()=0
	Ensure that all observations are reflected in the map estimate. More...

Constructor & Destructor Documentation

CHeightGridMap2D_Base()

CHeightGridMap2D_Base::CHeightGridMap2D_Base ( )

default

~CHeightGridMap2D_Base()

CHeightGridMap2D_Base::~CHeightGridMap2D_Base ( )

virtualdefault

Member Function Documentation

dem_get_resolution()

virtual double mrpt::maps::CHeightGridMap2D_Base::dem_get_resolution ( ) const

pure virtual

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

dem_get_size_x()

virtual size_t mrpt::maps::CHeightGridMap2D_Base::dem_get_size_x ( ) const

pure virtual

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

dem_get_size_y()

virtual size_t mrpt::maps::CHeightGridMap2D_Base::dem_get_size_y ( ) const

pure virtual

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

dem_get_z()

virtual bool mrpt::maps::CHeightGridMap2D_Base::dem_get_z ( const double  x, const double  y, double &  z_out  ) const

pure virtual

Get cell 'z' (x,y) by metric coordinates.

Returns

false if out of bounds or un-observed cell.

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

dem_get_z_by_cell()

virtual bool mrpt::maps::CHeightGridMap2D_Base::dem_get_z_by_cell ( const size_t  cx, const size_t  cy, double &  z_out  ) const

pure virtual

Get cell 'z' by (cx,cy) cell indices.

Returns

false if out of bounds or un-observed cell.

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

dem_internal_insertObservation()

bool CHeightGridMap2D_Base::dem_internal_insertObservation	(	const mrpt::obs::CObservation &	obs,
		const mrpt::poses::CPose3D *	robotPose = nullptr
	)

Internal method called by internal_insertObservation()

Definition at line 128 of file CHeightGridMap2D_Base.cpp.

References mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::empty(), mrpt::maps::CPointsMap::getPoint(), IS_CLASS, mrpt::maps::CPointsMap::loadFromVelodyneScan(), MRPT_END, MRPT_START, mrpt::maps::CPointsMap::size(), and mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams::update_map_after_insertion.

Referenced by mrpt::maps::CHeightGridMap2D::internal_insertObservation().

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dem_update_map()

virtual void mrpt::maps::CHeightGridMap2D_Base::dem_update_map ( )

pure virtual

Ensure that all observations are reflected in the map estimate.

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

getMinMaxHeight()

bool CHeightGridMap2D_Base::getMinMaxHeight	(	float &	z_min,
		float &	z_max
	)		const

Computes the minimum and maximum height in the grid.

Returns

False if there is no observed cell yet.

Definition at line 28 of file CHeightGridMap2D_Base.cpp.

References mrpt::d2f().

Referenced by mrpt::maps::CHeightGridMap2D::getAs3DObject().

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insertIndividualPoint()

virtual bool mrpt::maps::CHeightGridMap2D_Base::insertIndividualPoint ( const double  x, const double  y, const double  z, const TPointInsertParams &  params = TPointInsertParams()  )

pure virtual

Update the DEM with one new point.

See also

mrpt::maps::CMetricMap::insertObservation() for inserting higher-level objects like 2D/3D LIDAR scans

Returns

true if updated OK, false if (x,y) is out of bounds

Implemented in mrpt::maps::CHeightGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

intersectLine3D()

bool CHeightGridMap2D_Base::intersectLine3D	(	const mrpt::math::TLine3D &	r1,
		mrpt::math::TObject3D &	obj
	)		const

Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell)

Definition at line 57 of file CHeightGridMap2D_Base.cpp.

References mrpt::math::TObject3D::getPoint(), mrpt::math::intersect(), MRPT_END, MRPT_START, mrpt::math::TPoint3D_< T >::norm(), mrpt::round(), mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

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