CHeightGridMap2D_MRF.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CHeightGridMap2D_MRF_MRF_H
#define CHeightGridMap2D_MRF_MRF_H

#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/maps/CHeightGridMap2D_Base.h>

namespace mrpt
{
namespace maps
{
/** CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with
 * uncertainty, based on a Markov-Random-Field (MRF) estimator.
  *
  *  There are a number of methods available to build the gas grid-map,
 * depending on the value of
  *    "TMapRepresentation maptype" passed in the constructor (see base class
 * mrpt::maps::CRandomFieldGridMap2D).
  *
  * Update the map with insertIndividualReading() or insertObservation()
  *
  * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
 * mrpt::utils::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
  * \note New in MRPT 1.4.0
  * \ingroup mrpt_maps_grp
  */
class CHeightGridMap2D_MRF : public CRandomFieldGridMap2D,
                                                         public CHeightGridMap2D_Base
{
        DEFINE_SERIALIZABLE(CHeightGridMap2D_MRF)
   public:
        /** Constructor */
        CHeightGridMap2D_MRF(
                TMapRepresentation mapType = mrGMRF_SD, double x_min = -2,
                double x_max = 2, double y_min = -2, double y_max = 2,
                double resolution = 0.5,
                /** [in] Whether to call updateMapEstimation(). If false, make sure of
                   calling that function before accessing map contents. */
                bool run_first_map_estimation_now = true);

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

                void loadFromConfigFile(
                        const mrpt::utils::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        mrpt::utils::CStream& out) const override;  // See base docs
        } insertionOptions;

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

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

        virtual bool insertIndividualPoint(
                const double x, const double y, const double z,
                const CHeightGridMap2D_Base::TPointInsertParams& params =
                        CHeightGridMap2D_Base::TPointInsertParams()) override;
        virtual double dem_get_resolution() const override;
        virtual size_t dem_get_size_x() const override;
        virtual size_t dem_get_size_y() const override;
        virtual bool dem_get_z_by_cell(
                const size_t cx, const size_t cy, double& z_out) const override;
        virtual bool dem_get_z(
                const double x, const double y, double& z_out) const override;
        virtual void dem_update_map() override;

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

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

        MAP_DEFINITION_START(CHeightGridMap2D_MRF)
        /** Runs map estimation at start up (Default:true) */
        bool run_map_estimation_at_ctor;
        /** See CHeightGridMap2D_MRF::CHeightGridMap2D_MRF */
        double min_x, max_x, min_y, max_y, resolution;
        /** The kind of map representation (see
         * CHeightGridMap2D_MRF::CHeightGridMap2D_MRF) */
        mrpt::maps::CHeightGridMap2D_MRF::TMapRepresentation mapType;
        /** Observations insertion options */
        mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOpts;
        MAP_DEFINITION_END(CHeightGridMap2D_MRF, )
};

}  // End of namespace
}  // End of namespace
#endif