Detailed Description

This class stores any customizable set of metric maps.

The internal metric maps can be accessed directly by the user as smart pointers with CMultiMetricMap::mapByIndex() or via iterators. The utility of this container is to operate on several maps simultaneously: update them by inserting observations, evaluate the likelihood of one observation by fusing (multiplying) the likelihoods over the different maps, etc.

These kinds of metric maps can be kept inside (list may be incomplete, refer to classes derived from mrpt::maps::CMetricMap):

mrpt::maps::CSimplePointsMap: For 2D or 3D range scans, ...
mrpt::maps::COccupancyGridMap2D: 2D, horizontal laser range scans, at different altitudes.
mrpt::maps::COctoMap: For 3D occupancy grids of variable resolution, with octrees (based on the library octomap).
mrpt::maps::CColouredOctoMap: The same than above, but nodes can store RGB data appart from occupancy.
mrpt::maps::CLandmarksMap: For visual landmarks,etc...
mrpt::maps::CGasConcentrationGridMap2D: For gas concentration maps.
mrpt::maps::CWirelessPowerGridMap2D: For wifi power maps.
mrpt::maps::CBeaconMap: For range-only SLAM.
mrpt::maps::CHeightGridMap2D: For elevation maps of height for each (x,y) location (Digital elevation model, DEM)
mrpt::maps::CHeightGridMap2D_MRF: DEMs as Markov Random Field (MRF)
mrpt::maps::CReflectivityGridMap2D: For maps of "reflectivity" for each (x,y) location.
mrpt::maps::CColouredPointsMap: For point map with color.
mrpt::maps::CWeightedPointsMap: For point map with weights (capable of "fusing").

See CMultiMetricMap::setListOfMaps() for the method for initializing this class programmatically. See also TSetOfMetricMapInitializers::loadFromConfigFile for a template of ".ini"-like configuration file that can be used to define which maps to create and all their parameters. Alternatively, the list of maps is public so it can be directly manipulated/accessed in CMultiMetricMap::maps

Method #1: Using map definition structures

mrpt::maps::TSetOfMetricMapInitializers map_inits;
{
  mrpt::maps::COccupancyGridMap2D::TMapDefinition def;
  def.resolution = 0.05;
  def.insertionOpts.maxOccupancyUpdateCertainty = 0.8;
  def.insertionOpts.maxDistanceInsertion = 30;
  map_inits.push_back(def);
}
{
  mrpt::maps::CSimplePointsMap::TMapDefinition def;
  map_inits.push_back(def);
}
mrpt::maps::CMultiMetricMap theMap;
theMap.setListOfMaps(map_inits);

Method #2: Using a configuration file See TSetOfMetricMapInitializers::loadFromConfigFile() for details on expected file format.

mrpt::config::CConfigFile cfgFile("file.cfg");
mrpt::maps::TSetOfMetricMapInitializers map_inits;
map_inits.loadFromConfigFile(cfgFile, "MapDefinition");
mrpt::maps::CMultiMetricMap theMap;
theMap.setListOfMaps(map_inits);

Method #3: Manual manipulation

mrpt::maps::CMultiMetricMap theMap;
{
 auto ptMap = mrpt::maps::CSimplePointsMap::Create();
 theMap.maps.push_back(ptMap);
}

Note: [New in MRPT 1.3.0]: likelihoodMapSelection, which selected the map to be used when computing the likelihood of an observation, has been removed. Use the enableObservationLikelihood property of each individual map declaration.; [New in MRPT 1.3.0]: enableInsertion_{pointsMap,...} have been also removed. Use the enableObservationInsertion property of each map declaration.; This class belongs to [mrpt-slam] instead of [mrpt-maps] due to the dependency on map classes in mrpt-vision.

See also: CMetricMap

Definition at line 120 of file CMultiMetricMap.h.

#include <mrpt/maps/CMultiMetricMap.h>

Inheritance diagram for mrpt::maps::CMultiMetricMap:

Public Member Functions
	CMultiMetricMap ()=default
	Default ctor: empty list of maps. More...

	CMultiMetricMap (const TSetOfMetricMapInitializers &initializers)
	Constructor with a list of map initializers. More...

void	setListOfMaps (const mrpt::maps::TSetOfMetricMapInitializers &init)
	Sets the list of internal map according to the passed list of map initializers (current maps will be deleted) More...

bool	isEmpty () const override
	Returns true if all maps returns true in their isEmpty() method. More...

void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const mrpt::maps::TMatchingParams &params, mrpt::maps::TMatchingExtraResults &extraResults) const override
	Computes the matching between this and another 2D point map, which includes finding: More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	auxParticleFilterCleanUp () override
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

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

const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () const override
	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...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
	! 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	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 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...

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...

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...

Public Attributes
TMapGenericParams	genericMapParams
	Common params to all maps. More...

Protected Member Functions
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...

bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const override

double	internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() 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...

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...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CMultiMetricMap >

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CMultiMetricMap"

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...

Access to list of maps
using	TListMaps = std::deque< mrpt::containers::deepcopy_poly_ptr< mrpt::maps::CMetricMap::Ptr > >

using	iterator = TListMaps::iterator

using	const_iterator = TListMaps::const_iterator

TListMaps	maps
	The list of metric maps in this object. More...

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

mrpt::maps::CMetricMap::Ptr	mapByIndex (size_t idx) const
	Gets the i-th map On out-of-bounds. More...

template<typename T >
T::Ptr	mapByClass (size_t ith=0) const
	Returns the i'th map of a given class (or of a derived class), or empty smart pointer if there is no such map. More...

template<typename T >
std::size_t	countMapsByClass () const
	Count how many maps exist of the given class (or derived class) More...

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::CMultiMetricMap::const_iterator = TListMaps::const_iterator

Definition at line 137 of file CMultiMetricMap.h.

◆ ConstPtr

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

Definition at line 122 of file CMultiMetricMap.h.

◆ ConstUniquePtr

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

Definition at line 122 of file CMultiMetricMap.h.

◆ iterator

using mrpt::maps::CMultiMetricMap::iterator = TListMaps::iterator

Definition at line 136 of file CMultiMetricMap.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 122 of file CMultiMetricMap.h.

◆ TListMaps

using mrpt::maps::CMultiMetricMap::TListMaps = std::deque< mrpt::containers::deepcopy_poly_ptr<mrpt::maps::CMetricMap::Ptr> >

Definition at line 127 of file CMultiMetricMap.h.

◆ UniquePtr

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

Definition at line 122 of file CMultiMetricMap.h.

Constructor & Destructor Documentation

◆ CMultiMetricMap() [1/2]

mrpt::maps::CMultiMetricMap::CMultiMetricMap ( )

default

Default ctor: empty list of maps.

◆ CMultiMetricMap() [2/2]

CMultiMetricMap::CMultiMetricMap ( const TSetOfMetricMapInitializers & initializers )

Constructor with a list of map initializers.

Parameters

initializers One internal map will be created for each entry in this "TSetOfMetricMapInitializers" struct.

Definition at line 106 of file CMultiMetricMap.cpp.

References MRPT_END, and MRPT_START.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ auxParticleFilterCleanUp()

void CMultiMetricMap::auxParticleFilterCleanUp ( )

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 297 of file CMultiMetricMap.cpp.

References MRPT_END, and MRPT_START.

◆ begin() [1/2]

iterator mrpt::maps::CMultiMetricMap::begin ( )

inline

Definition at line 138 of file CMultiMetricMap.h.

References maps.

◆ begin() [2/2]

const_iterator mrpt::maps::CMultiMetricMap::begin ( ) const

inline

Definition at line 139 of file CMultiMetricMap.h.

References maps.

◆ 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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◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 30 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::ros1bridge::fromROS(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CPointsMapXYZI::setFromPCLPointCloudXYZI(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

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◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

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

overridevirtual

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
params	[IN] Matching parameters

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 272 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::maps::CMetricMap::compute3DMatchingRatio(), MRPT_END, MRPT_START, and params.

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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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◆ countMapsByClass()

template<typename T >

std::size_t mrpt::maps::CMultiMetricMap::countMapsByClass ( ) const

inline

Count how many maps exist of the given class (or derived class)

Definition at line 169 of file CMultiMetricMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 122 of file CMultiMetricMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 122 of file CMultiMetricMap.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 122 of file CMultiMetricMap.h.

◆ determineMatching2D()

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

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 215 of file CMultiMetricMap.cpp.

References ASSERTMSG_, MRPT_END, MRPT_START, and params.

◆ 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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◆ 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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◆ end() [1/2]

iterator mrpt::maps::CMultiMetricMap::end ( )

inline

Definition at line 140 of file CMultiMetricMap.h.

References maps.

◆ end() [2/2]

const_iterator mrpt::maps::CMultiMetricMap::end ( ) const

inline

Definition at line 141 of file CMultiMetricMap.h.

References maps.

◆ getAs3DObject()

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

overridevirtual

Returns a 3D object representing the map.

See also: genericMapParams, TMapGenericParams::enableSaveAs3DObject

Implements mrpt::maps::CMetricMap.

Definition at line 261 of file CMultiMetricMap.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getAsSimplePointsMap() [1/2]

const CSimplePointsMap * CMultiMetricMap::getAsSimplePointsMap ( ) const

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 306 of file CMultiMetricMap.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

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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::CMultiMetricMap::getClassName ( )

inlinestatic

Definition at line 122 of file CMultiMetricMap.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ GetRuntimeClassIdStatic()

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

static

◆ 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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◆ 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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◆ 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_canComputeObservationLikelihood()

bool CMultiMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation & obs ) const

overrideprotected

Definition at line 193 of file CMultiMetricMap.cpp.

◆ internal_clear()

void CMultiMetricMap::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 133 of file CMultiMetricMap.cpp.

◆ internal_computeObservationLikelihood()

double CMultiMetricMap::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 178 of file CMultiMetricMap.cpp.

References MRPT_END, and MRPT_START.

◆ internal_insertObservation()

bool CMultiMetricMap::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 203 of file CMultiMetricMap.cpp.

◆ isEmpty()

bool CMultiMetricMap::isEmpty ( ) const

overridevirtual

Returns true if all maps returns true in their isEmpty() method.

Implements mrpt::maps::CMetricMap.

Definition at line 231 of file CMultiMetricMap.cpp.

References MapExecutor::run().

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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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◆ mapByClass()

template<typename T >

T::Ptr mrpt::maps::CMultiMetricMap::mapByClass ( size_t ith = 0 ) const

inline

Returns the i'th map of a given class (or of a derived class), or empty smart pointer if there is no such map.

Example:

COccupancyGridMap2D::Ptr obs =

multimap.mapByClass<COccupancyGridMap2D>();

By default (ith=0), the first match is returned.

Definition at line 156 of file CMultiMetricMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::detectors::CDetectorDoorCrossing::process(), mrpt::slam::CMetricMapBuilderICP::processObservation(), pf2gauss_t< mrpt::slam::CMonteCarloLocalization2D >::resetOnFreeSpace(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), run_test_pf_localization(), and mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage().

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◆ mapByIndex()

mrpt::maps::CMetricMap::Ptr CMultiMetricMap::mapByIndex ( size_t idx ) const

Gets the i-th map On out-of-bounds.

Definition at line 318 of file CMultiMetricMap.cpp.

References MRPT_END, and MRPT_START.

◆ 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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◆ saveMetricMapRepresentationToFile()

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

overridevirtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::maps::CMetricMap.

Definition at line 239 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::rtti::TRuntimeClassId::className, mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::maps::CMetricMap::GetRuntimeClass(), MRPT_END, MRPT_START, and mrpt::maps::CMetricMap::saveMetricMapRepresentationToFile().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ serializeFrom() [1/2]

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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◆ serializeFrom() [2/2]

void CMultiMetricMap::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 148 of file CMultiMetricMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CMultiMetricMap::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 140 of file CMultiMetricMap.cpp.

◆ serializeTo() [1/2]

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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◆ serializeTo() [2/2]

void CMultiMetricMap::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 141 of file CMultiMetricMap.cpp.

References out.

◆ setListOfMaps()

void CMultiMetricMap::setListOfMaps ( const mrpt::maps::TSetOfMetricMapInitializers & init )

Sets the list of internal map according to the passed list of map initializers (current maps will be deleted)

Definition at line 113 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::maps::internal::TMetricMapTypesRegistry::Instance(), MRPT_END, and MRPT_START.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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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.

◆ 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.

Member Data Documentation

◆ className

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

static

Definition at line 122 of file CMultiMetricMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 274 of file CMetricMap.h.

◆ maps

TListMaps mrpt::maps::CMultiMetricMap::maps

The list of metric maps in this object.

Use dynamic_cast or smart pointer-based downcast to access maps by their actual type. You can directly manipulate this list. Helper methods to initialize it are described in the docs of CMultiMetricMap

Definition at line 134 of file CMultiMetricMap.h.

Referenced by begin(), and end().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CMultiMetricMap::runtimeClassId

staticprotected

Definition at line 122 of file CMultiMetricMap.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Access to list of maps

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ TListMaps

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMultiMetricMap() [1/2]

◆ CMultiMetricMap() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ begin() [1/2]

◆ begin() [2/2]

◆ canComputeObservationLikelihood()

◆ canComputeObservationsLikelihood()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ countMapsByClass()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_canComputeObservationLikelihood()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_insertObservation()

◆ isEmpty()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ mapByClass()

◆ mapByIndex()

◆ publishEvent()

◆ saveMetricMapRepresentationToFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setListOfMaps()

◆ squareDistanceToClosestCorrespondence()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ genericMapParams

◆ maps

◆ runtimeClassId