Detailed Description

A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor).

Important implemented features are:

Insertion of mrpt::obs::CObservationReflectivity observations.
Probability estimation of observations. See base class.
Rendering as 3D object: a 2D textured plane.
Automatic resizing of the map limits when inserting observations close to the border.

Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:

mrSimpleAverage: Each cell only stores the current average value.

Definition at line 38 of file CReflectivityGridMap2D.h.

#include <mrpt/maps/CReflectivityGridMap2D.h>

Inheritance diagram for mrpt::maps::CReflectivityGridMap2D:

Classes
struct	TInsertionOptions
	Parameters related with inserting observations into the map. More...

struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
using	cell_t = int8_t
	The type of cells. More...

using	traits_t = detail::logoddscell_traits< int8_t >

Public Member Functions
void	clear ()
	Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...

float	cell2float (const int8_t &c) const override
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...

	CReflectivityGridMap2D (double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
	Constructor. More...

bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. 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
	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	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

void	getAsImage (mrpt::img::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
	Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) 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	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	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const int8_t *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

void	fill (const int8_t &value)
	Fills all the cells with the same value. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const int8_t &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

int8_t *	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 int8_t *	cellByPos (double x, double y) const

int8_t *	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 int8_t *	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

void	getAsMatrix (MAT &m) const
	Get the entire grid as a matrix. More...

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 void	updateCell_fast_occupied (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_free (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

static void	updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
	Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...

Public Attributes
mrpt::maps::CReflectivityGridMap2D::TInsertionOptions	insertionOptions

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

Static Public Attributes
static constexpr int8_t	CELLTYPE_MIN = -127

static constexpr int8_t	CELLTYPE_MAX = 127

static constexpr int8_t	P2LTABLE_SIZE = CELLTYPE_MAX

static constexpr std::size_t	LOGODDS_LUT_ENTRIES = 1 << 8

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...

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...

std::vector< int8_t > &	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
std::vector< int8_t >	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

Static Protected Attributes
static CLogOddsGridMapLUT< cell_t >	m_logodd_lut
	Lookup tables for log-odds. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CReflectivityGridMap2D >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::CReflectivityGridMap2D >

using	UniquePtr = std::unique_ptr< mrpt::maps ::CReflectivityGridMap2D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CReflectivityGridMap2D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CReflectivityGridMap2D"

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::CReflectivityGridMap2D,reflectivityMap" , & mrpt::maps::CReflectivityGridMap2D ::MapDefinition, & mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static CReflectivityGridMap2D *	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)

Member Typedef Documentation

◆ cell_t

using mrpt::maps::CLogOddsGridMap2D< int8_t >::cell_t = int8_t

inherited

The type of cells.

Definition at line 29 of file CLogOddsGridMap2D.h.

◆ ConstPtr

using mrpt::maps::CReflectivityGridMap2D::ConstPtr = std::shared_ptr<const mrpt::maps :: CReflectivityGridMap2D >

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ ConstUniquePtr

using mrpt::maps::CReflectivityGridMap2D::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CReflectivityGridMap2D >

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ Ptr

using mrpt::maps::CReflectivityGridMap2D::Ptr = std::shared_ptr< mrpt::maps :: CReflectivityGridMap2D >

A type for the associated smart pointer

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ traits_t

using mrpt::maps::CLogOddsGridMap2D< int8_t >::traits_t = detail::logoddscell_traits<int8_t >

inherited

Definition at line 30 of file CLogOddsGridMap2D.h.

◆ UniquePtr

using mrpt::maps::CReflectivityGridMap2D::UniquePtr = std::unique_ptr< mrpt::maps :: CReflectivityGridMap2D >

Definition at line 42 of file CReflectivityGridMap2D.h.

Constructor & Destructor Documentation

◆ CReflectivityGridMap2D()

CReflectivityGridMap2D::CReflectivityGridMap2D	(	double	x_min = `-2`,
		double	x_max = `2`,
		double	y_min = `-2`,
		double	y_max = `2`,
		double	resolution = `0.1`
	)

Constructor.

Definition at line 90 of file CReflectivityGridMap2D.cpp.

References internal_clear().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CReflectivityGridMap2D::_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.

◆ 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()

float mrpt::maps::CReflectivityGridMap2D::cell2float ( const int8_t & ) const

inlineoverridevirtual

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

Reimplemented from mrpt::containers::CDynamicGrid< int8_t >.

Definition at line 54 of file CReflectivityGridMap2D.h.

References mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p(), and m_logodd_lut.

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◆ cellByIndex() [1/2]

int8_t * mrpt::containers::CDynamicGrid< int8_t >::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.

◆ cellByIndex() [2/2]

const int8_t * mrpt::containers::CDynamicGrid< int8_t >::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]

int8_t * mrpt::containers::CDynamicGrid< int8_t >::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 internal_computeObservationLikelihood(), and internal_insertObservation().

◆ cellByPos() [2/2]

const int8_t * mrpt::containers::CDynamicGrid< int8_t >::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::CReflectivityGridMap2D::clear ( )

inline

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

Definition at line 53 of file CReflectivityGridMap2D.h.

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

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CReflectivityGridMap2D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float CReflectivityGridMap2D::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

overridevirtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 394 of file CReflectivityGridMap2D.cpp.

◆ 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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◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CReflectivityGridMap2D::Create ( Args &&... args )

inlinestatic

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CReflectivityGridMap2D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ CreateFromMapDefinition()

mrpt::maps::CReflectivityGridMap2D * mrpt::maps::CReflectivityGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

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

Definition at line 33 of file CReflectivityGridMap2D.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CReflectivityGridMap2D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CReflectivityGridMap2D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 42 of file CReflectivityGridMap2D.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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◆ 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< int8_t >::dyngridcommon_readFromStream	(	STREAM &	in,
		bool	cast_from_float = `false`
	)

inlineprotectedinherited

Definition at line 342 of file CDynamicGrid.h.

Referenced by serializeFrom().

◆ dyngridcommon_writeToStream()

void mrpt::containers::CDynamicGrid< int8_t >::dyngridcommon_writeToStream ( STREAM & out ) const

inlineprotectedinherited

Definition at line 334 of file CDynamicGrid.h.

Referenced by serializeTo().

◆ fill()

void mrpt::containers::CDynamicGrid< int8_t >::fill ( const int8_t & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 109 of file CDynamicGrid.h.

Referenced by internal_clear().

◆ getAs3DObject()

void CReflectivityGridMap2D::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 354 of file CReflectivityGridMap2D.cpp.

References mrpt::img::CH_GRAY, mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255(), m_logodd_lut, mrpt::containers::CDynamicGrid< int8_t >::m_map, mrpt::containers::CDynamicGrid< int8_t >::m_size_x, mrpt::containers::CDynamicGrid< int8_t >::m_size_y, mrpt::containers::CDynamicGrid< int8_t >::m_x_max, mrpt::containers::CDynamicGrid< int8_t >::m_x_min, mrpt::containers::CDynamicGrid< int8_t >::m_y_max, mrpt::containers::CDynamicGrid< int8_t >::m_y_min, MRPT_END, and MRPT_START.

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◆ getAsImage()

void CReflectivityGridMap2D::getAsImage	(	mrpt::img::CImage &	img,
		bool	verticalFlip = `false`,
		bool	forceRGB = `false`
	)		const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true)

Definition at line 309 of file CReflectivityGridMap2D.cpp.

References mrpt::img::CH_GRAY, mrpt::img::CH_RGB, mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p_255(), m_logodd_lut, mrpt::containers::CDynamicGrid< int8_t >::m_map, mrpt::containers::CDynamicGrid< int8_t >::m_size_x, mrpt::containers::CDynamicGrid< int8_t >::m_size_y, and mrpt::img::CImage::resize().

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◆ getAsMatrix()

void mrpt::containers::CDynamicGrid< int8_t >::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::CReflectivityGridMap2D::getClassName ( )

inlinestatic

Definition at line 42 of file CReflectivityGridMap2D.h.

◆ getResolution()

double mrpt::containers::CDynamicGrid< int8_t >::getResolution ( ) const

inlineinherited

Returns the resolution of the grid map.

Definition at line 254 of file CDynamicGrid.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CReflectivityGridMap2D::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::CReflectivityGridMap2D::GetRuntimeClassIdStatic ( )

static

◆ getSizeX()

size_t mrpt::containers::CDynamicGrid< int8_t >::getSizeX ( ) const

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 242 of file CDynamicGrid.h.

◆ getSizeY()

size_t mrpt::containers::CDynamicGrid< int8_t >::getSizeY ( ) const

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 244 of file CDynamicGrid.h.

◆ getXMax()

double mrpt::containers::CDynamicGrid< int8_t >::getXMax ( ) const

inlineinherited

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

Definition at line 248 of file CDynamicGrid.h.

◆ getXMin()

double mrpt::containers::CDynamicGrid< int8_t >::getXMin ( ) const

inlineinherited

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

Definition at line 246 of file CDynamicGrid.h.

◆ getYMax()

double mrpt::containers::CDynamicGrid< int8_t >::getYMax ( ) const

inlineinherited

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

Definition at line 252 of file CDynamicGrid.h.

◆ getYMin()

double mrpt::containers::CDynamicGrid< int8_t >::getYMin ( ) const

inlineinherited

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

Definition at line 250 of file CDynamicGrid.h.

◆ 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< int8_t >::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.

◆ idx2x()

double mrpt::containers::CDynamicGrid< int8_t >::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.

◆ idx2y()

double mrpt::containers::CDynamicGrid< int8_t >::idx2y ( int cy ) const

inlineinherited

Definition at line 283 of file CDynamicGrid.h.

◆ 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_clear()

void CReflectivityGridMap2D::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 101 of file CReflectivityGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< int8_t >::fill(), m_logodd_lut, and mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l().

Referenced by CReflectivityGridMap2D().

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◆ internal_computeObservationLikelihood()

double CReflectivityGridMap2D::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 186 of file CReflectivityGridMap2D.cpp.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< int8_t >::cellByPos(), mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::channel, mrpt::poses::CPose3D::composeFrom(), insertionOptions, IS_CLASS, mrpt::maps::CLogOddsGridMapLUT< TCELL >::l2p(), m_logodd_lut, MRPT_END, MRPT_START, mrpt::square(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CReflectivityGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 69 of file CReflectivityGridMap2D.cpp.

References mrpt::maps::CReflectivityGridMap2D::TMapDefinition::insertionOpts, mrpt::maps::CReflectivityGridMap2D::TMapDefinition::max_x, mrpt::maps::CReflectivityGridMap2D::TMapDefinition::max_y, mrpt::maps::CReflectivityGridMap2D::TMapDefinition::min_x, mrpt::maps::CReflectivityGridMap2D::TMapDefinition::min_y, and mrpt::maps::CReflectivityGridMap2D::TMapDefinition::resolution.

◆ internal_insertObservation()

bool CReflectivityGridMap2D::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 109 of file CReflectivityGridMap2D.cpp.

References ASSERTMSG_, mrpt::containers::CDynamicGrid< int8_t >::cellByPos(), mrpt::maps::detail::logoddscell_traits< int8_t >::CELLTYPE_MAX, mrpt::maps::detail::logoddscell_traits< int8_t >::CELLTYPE_MIN, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::channel, mrpt::poses::CPose3D::composeFrom(), insertionOptions, IS_CLASS, mrpt::keep_max(), mrpt::keep_min(), m_logodd_lut, mrpt::containers::CDynamicGrid< int8_t >::m_x_max, mrpt::containers::CDynamicGrid< int8_t >::m_x_min, mrpt::containers::CDynamicGrid< int8_t >::m_y_max, mrpt::containers::CDynamicGrid< int8_t >::m_y_min, MRPT_END, MRPT_START, mrpt::maps::CLogOddsGridMapLUT< TCELL >::p2l(), mrpt::containers::CDynamicGrid< int8_t >::resize(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ isEmpty()

bool CReflectivityGridMap2D::isEmpty ( ) const

overridevirtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

Definition at line 105 of file CReflectivityGridMap2D.cpp.

◆ 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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◆ m_map_castaway_const()

std::vector<int8_t >& mrpt::containers::CDynamicGrid< int8_t >::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.

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CReflectivityGridMap2D::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 33 of file CReflectivityGridMap2D.cpp.

◆ 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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◆ resize()

virtual void mrpt::containers::CDynamicGrid< int8_t >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		const int8_t &	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.

Referenced by internal_insertObservation().

◆ saveMetricMapRepresentationToFile()

void CReflectivityGridMap2D::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 299 of file CReflectivityGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< int8_t >::saveToTextFile().

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◆ saveToTextFile()

bool mrpt::containers::CDynamicGrid< int8_t >::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.

Referenced by saveMetricMapRepresentationToFile().

◆ serializeFrom() [1/2]

void CReflectivityGridMap2D::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 242 of file CReflectivityGridMap2D.cpp.

References mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::channel, mrpt::containers::CDynamicGrid< int8_t >::dyngridcommon_readFromStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::containers::CDynamicGrid< int8_t >::m_map, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadBuffer().

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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 CReflectivityGridMap2D::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 225 of file CReflectivityGridMap2D.cpp.

◆ serializeTo() [1/2]

void CReflectivityGridMap2D::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 226 of file CReflectivityGridMap2D.cpp.

References mrpt::maps::CReflectivityGridMap2D::TInsertionOptions::channel, mrpt::containers::CDynamicGrid< int8_t >::dyngridcommon_writeToStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::containers::CDynamicGrid< int8_t >::m_map, and out.

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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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◆ setSize()

void mrpt::containers::CDynamicGrid< int8_t >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	resolution,
		const int8_t *	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.

◆ 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.

◆ updateCell_fast_free() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< int8_t >::updateCell_fast_free	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 84 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_free() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< int8_t >::updateCell_fast_free	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MAX-logodd_obs

See also: updateCell_fast_occupied

Definition at line 106 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< int8_t >::updateCell_fast_occupied	(	const unsigned	x,
		const unsigned	y,
		const cell_t	logodd_obs,
		const cell_t	thres,
		cell_t *	mapArray,
		const unsigned	_size_x
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

x	Cell index in X axis.
y	Cell index in Y axis.
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 43 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< int8_t >::updateCell_fast_occupied	(	cell_t *	theCell,
		const cell_t	logodd_obs,
		const cell_t	thres
	)

inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters

theCell	The cell to modify
logodd_obs	Observation of the cell, in log-odd form as transformed by p2l.
thres	This must be CELLTYPE_MIN+logodd_obs

See also: updateCell, updateCell_fast_free

Definition at line 64 of file CLogOddsGridMap2D.h.

◆ 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< int8_t >::x2idx ( double x ) const

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 256 of file CDynamicGrid.h.

◆ xy2idx()

int mrpt::containers::CDynamicGrid< int8_t >::xy2idx	(	double	x,
		double	y
	)		const

inlineinherited

Definition at line 264 of file CDynamicGrid.h.

◆ y2idx()

int mrpt::containers::CDynamicGrid< int8_t >::y2idx ( double y ) const

inlineinherited

Definition at line 260 of file CDynamicGrid.h.

Member Data Documentation

◆ CELLTYPE_MAX

constexpr int8_t mrpt::maps::detail::logoddscell_traits< int8_t >::CELLTYPE_MAX = 127

staticinherited

Definition at line 23 of file logoddscell_traits.h.

Referenced by internal_insertObservation().

◆ CELLTYPE_MIN

constexpr int8_t mrpt::maps::detail::logoddscell_traits< int8_t >::CELLTYPE_MIN = -127

staticinherited

Definition at line 22 of file logoddscell_traits.h.

Referenced by internal_insertObservation().

◆ className

constexpr const char* mrpt::maps::CReflectivityGridMap2D::className = "mrpt::maps" "::" "CReflectivityGridMap2D"

static

Definition at line 42 of file CReflectivityGridMap2D.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(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), serializeFrom(), mrpt::maps::CHeightGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), serializeTo(), and mrpt::maps::CHeightGridMap2D::serializeTo().

◆ insertionOptions

mrpt::maps::CReflectivityGridMap2D::TInsertionOptions mrpt::maps::CReflectivityGridMap2D::insertionOptions

Referenced by internal_computeObservationLikelihood(), internal_insertObservation(), serializeFrom(), and serializeTo().

◆ LOGODDS_LUT_ENTRIES

constexpr std::size_t mrpt::maps::detail::logoddscell_traits< int8_t >::LOGODDS_LUT_ENTRIES = 1 << 8

staticinherited

Definition at line 25 of file logoddscell_traits.h.

◆ m_logodd_lut

CLogOddsGridMapLUT< CReflectivityGridMap2D::cell_t > CReflectivityGridMap2D::m_logodd_lut

staticprotected

Lookup tables for log-odds.

Definition at line 46 of file CReflectivityGridMap2D.h.

Referenced by cell2float(), getAs3DObject(), getAsImage(), internal_clear(), internal_computeObservationLikelihood(), and internal_insertObservation().

◆ m_map

std::vector<int8_t > mrpt::containers::CDynamicGrid< int8_t >::m_map

protectedinherited

The cells.

Definition at line 42 of file CDynamicGrid.h.

Referenced by getAs3DObject(), getAsImage(), serializeFrom(), and serializeTo().

◆ m_private_map_register_id

const size_t mrpt::maps::CReflectivityGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CReflectivityGridMap2D,reflectivityMap" , & mrpt::maps::CReflectivityGridMap2D ::MapDefinition, & mrpt::maps::CReflectivityGridMap2D ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 119 of file CReflectivityGridMap2D.h.

◆ m_resolution

double mrpt::containers::CDynamicGrid< int8_t >::m_resolution

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

◆ m_size_x

size_t mrpt::containers::CDynamicGrid< int8_t >::m_size_x

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and getAsImage().

◆ m_size_y

size_t mrpt::containers::CDynamicGrid< int8_t >::m_size_y

protectedinherited

Definition at line 51 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and getAsImage().

◆ m_x_max

double mrpt::containers::CDynamicGrid< int8_t >::m_x_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and internal_insertObservation().

◆ m_x_min

double mrpt::containers::CDynamicGrid< int8_t >::m_x_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and internal_insertObservation().

◆ m_y_max

double mrpt::containers::CDynamicGrid< int8_t >::m_y_max

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and internal_insertObservation().

◆ m_y_min

double mrpt::containers::CDynamicGrid< int8_t >::m_y_min

protectedinherited

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject(), and internal_insertObservation().

◆ P2LTABLE_SIZE

constexpr int8_t mrpt::maps::detail::logoddscell_traits< int8_t >::P2LTABLE_SIZE = CELLTYPE_MAX

staticinherited

Definition at line 24 of file logoddscell_traits.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CReflectivityGridMap2D::runtimeClassId

staticprotected

Definition at line 42 of file CReflectivityGridMap2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

RTTI stuff

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{

Member Typedef Documentation

◆ cell_t

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ traits_t

◆ UniquePtr

Constructor & Destructor Documentation

◆ CReflectivityGridMap2D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ canComputeObservationLikelihood()

◆ canComputeObservationsLikelihood()

◆ cell2float()

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateAlloc()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ fill()

◆ getAs3DObject()

◆ getAsImage()

◆ getAsMatrix()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClassName()

◆ getResolution()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ hasSubscribers()

◆ idx2cxcy()

◆ idx2x()

◆ idx2y()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

◆ isEmpty()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ m_map_castaway_const()

◆ MapDefinition()

◆ publishEvent()

◆ resize()