Detailed Description

CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell).

There are a number of methods available to build the MRF grid-map, depending on the value of TMapRepresentation maptype passed in the constructor.

The following papers describe the mapping alternatives implemented here:

mrKernelDM: A Gaussian kernel-based method. See:
- "Building gas concentration gridmaps with a mobile robot", Lilienthal, A. and Duckett, T., Robotics and Autonomous Systems, v.48, 2004.
mrKernelDMV: A kernel-based method. See:
- "A Statistical Approach to Gas Distribution Modelling with Mobile Robots--The Kernel DM+ V Algorithm", Lilienthal, A.J. and Reggente, M. and Trincavelli, M. and Blanco, J.L. and Gonzalez, J., IROS 2009.
mrKalmanFilter: A "brute-force" approach to estimate the entire map with a dense (linear) Kalman filter. Will be very slow for mid or large maps. It's provided just for comparison purposes, not useful in practice.
mrKalmanApproximate: A compressed/sparse Kalman filter approach. See:
- "A Kalman Filter Based Approach to Probabilistic Gas Distribution Mapping", JL Blanco, JG Monroy, J Gonzalez-Jimenez, A Lilienthal, 28th Symposium On Applied Computing (SAC), 2013.
mrGMRF_SD: A Gaussian Markov Random Field (GMRF) estimator, with these constraints:
- mrGMRF_SD: Each cell only connected to its 4 immediate neighbors (Up, down, left, right).
- (Removed in MRPT 1.5.0: mrGMRF_G: Each cell connected to a square area of neighbors cells)
- See papers:
  - "Time-variant gas distribution mapping with obstacle information", Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.

Note that this class is virtual, since derived classes still have to implement:

mrpt::maps::CMetricMap::internal_computeObservationLikelihood()
mrpt::maps::CMetricMap::internal_insertObservation()
Serialization methods: writeToStream() and readFromStream()

[GMRF only] A custom connectivity pattern between cells can be defined by calling setCellsConnectivity().

See also: mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

Definition at line 152 of file CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D:

Classes
struct	ConnectivityDescriptor
	Base class for user-supplied objects capable of describing cells connectivity, used to build prior factors of the MRF graph. More...

struct	TInsertionOptionsCommon
	Parameters common to any derived class. More...

struct	TObservationGMRF

struct	TPriorFactorGMRF

Public Types
enum	TMapRepresentation { mrKernelDM = 0, mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKernelDMV, mrGMRF_SD }
	The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...

enum	TGridInterpolationMethod { gimNearest = 0, gimBilinear }

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

float	cell2float (const TRandomFieldCell &c) const override

	CRandomFieldGridMap2D (TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
	Constructor. More...

virtual	~CRandomFieldGridMap2D ()
	Destructor. More...

virtual bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes) More...

virtual void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,...). More...

virtual void	getAsBitmapFile (mrpt::utils::CImage &out_img) const
	Returns an image just as described in saveAsBitmapFile. More...

virtual void	getAsMatrix (mrpt::math::CMatrixDouble &out_mat) const
	Like saveAsBitmapFile(), but returns the data in matrix form (first row in the matrix is the upper (y_max) part of the map) More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=1.0f) override
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=nullptr)
	Changes the size of the grid, erasing previous contents. More...

void	setCellsConnectivity (const ConnectivityDescriptor::Ptr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between cells. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	See docs in base class: in this class this always returns 0. More...

virtual void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	The implementation in this class just calls all the corresponding method of the contained metric maps. More...

virtual void	saveAsMatlab3DGraph (const std::string &filName) const
	Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell. More...

void	getAsMatlab3DGraphScript (std::string &out_script) const
	Return a large text block with a MATLAB script to plot the contents of this map. More...

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

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

TMapRepresentation	getMapType ()
	Return the type of the random-field grid map, according to parameters passed on construction. More...

void	insertIndividualReading (const double sensorReading, const mrpt::math::TPoint2D &point, const bool update_map=true, const bool time_invariant=true, const double reading_stddev=.0)
	Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor. More...

virtual void	predictMeasurement (const double x, const double y, double &out_predict_response, double &out_predict_response_variance, bool do_sensor_normalization, const TGridInterpolationMethod interp_method=gimNearest)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance). More...

void	getMeanAndCov (mrpt::math::CVectorDouble &out_means, mrpt::math::CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods). More...

void	getMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD) const
	Return the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...

void	setMeanAndSTD (mrpt::math::CVectorDouble &out_means, mrpt::math::CVectorDouble &out_STD)
	Load the mean and STD vectors of the full Kalman filter estimate (works for all KF-based methods). More...

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

void	enableVerbose (bool enable_verbose)

bool	isEnabledVerbose () const

void	enableProfiler (bool enable=true)

bool	isProfilerEnabled () const

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

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

bool	insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

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

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

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::utils::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::utils::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...

virtual 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...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const TRandomFieldCell *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

void	fill (const TRandomFieldCell &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 TRandomFieldCell &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

TRandomFieldCell *	cellByPos (double x, double y)
	Returns a pointer to the contents of a cell given by its coordinates, or nullptr if it is out of the map extensions. More...

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

TRandomFieldCell *	cellByIndex (unsigned int cx, unsigned int cy)
	Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions. More...

const TRandomFieldCell *	cellByIndex (unsigned int cx, unsigned int cy) const
	Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions. More...

size_t	getSizeX () const
	Returns the horizontal size of grid map in cells count. More...

size_t	getSizeY () const
	Returns the vertical size of grid map in cells count. More...

double	getXMin () const
	Returns the "x" coordinate of left side of grid map. More...

double	getXMax () const
	Returns the "x" coordinate of right side of grid map. More...

double	getYMin () const
	Returns the "y" coordinate of top side of grid map. More...

double	getYMax () const
	Returns the "y" coordinate of bottom side of grid map. More...

double	getResolution () const
	Returns the resolution of the grid map. More...

int	x2idx (double x) const
	Transform a coordinate values into cell indexes. More...

int	y2idx (double y) const

int	xy2idx (double x, double y) const

void	idx2cxcy (const 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...

virtual float	cell2float (const TRandomFieldCell &c) const
	The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. 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
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

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

Protected Member Functions
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon *	getCommonInsertOptions ()=0
	Get the part of the options common to all CRandomFieldGridMap2D classes. More...

void	insertObservation_KernelDM_DMV (double normReading, const mrpt::math::TPoint2D &point, bool is_DMV)
	The implementation of "insertObservation" for Achim Lilienthal's map models DM & DM+V. More...

void	insertObservation_KF (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model. More...

void	insertObservation_KF2 (double normReading, const mrpt::math::TPoint2D &point)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model. More...

void	insertObservation_GMRF (double normReading, const mrpt::math::TPoint2D &point, const bool update_map, const bool time_invariant, const double reading_information)
	The implementation of "insertObservation" for the Gaussian Markov Random Field map model. More...

void	updateMapEstimation_GMRF ()
	solves the minimum quadratic system to determine the new concentration of each cell More...

double	computeConfidenceCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the confidence of the cell concentration (alpha) More...

double	computeMeanCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the average cell concentration, or the overall average value if it has never been observed. More...

double	computeVarCellValue_DM_DMV (const TRandomFieldCell *cell) const
	Computes the estimated variance of the cell concentration, or the overall average variance if it has never been observed. More...

void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values. More...

virtual void	internal_clear () override
	Erase all the contents of the map. More...

bool	exist_relation_between2cells (const mrpt::maps::COccupancyGridMap2D *m_Ocgridmap, size_t cxo_min, size_t cxo_max, size_t cyo_min, size_t cyo_max, const size_t seed_cxo, const size_t seed_cyo, const size_t objective_cxo, const size_t objective_cyo)
	Check if two cells of the gridmap (m_map) are connected, based on the provided occupancy gridmap. More...

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

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

std::vector< TRandomFieldCell > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (mrpt::utils::CStream &out) const

void	dyngridcommon_readFromStream (mrpt::utils::CStream &in, bool cast_from_float=false)

Protected Attributes
bool	m_rfgm_run_update_upon_clear

TInsertionOptionsCommon *	m_insertOptions_common
	Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class. More...

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

mrpt::math::CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation. More...

mrpt::math::CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation. More...

bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation. More...

ConnectivityDescriptor::Ptr	m_gmrf_connectivity
	Empty: default. More...

mrpt::graphs::ScalarFactorGraph	m_gmrf

std::vector< std::list< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information. More...

std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...

std::vector< TRandomFieldCell >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_resolution

size_t	m_size_x

size_t	m_size_y

Auxiliary vars for DM & DM+V methods
float	m_DM_lastCutOff

std::vector< float >	m_DM_gaussWindow

double	m_average_normreadings_mean

double	m_average_normreadings_var

size_t	m_average_normreadings_count

Private Types
typedef utils::CDynamicGrid< TRandomFieldCell >	BASE

RTTI stuff
using	Ptr = std::shared_ptr< CRandomFieldGridMap2D >

using	ConstPtr = std::shared_ptr< const CRandomFieldGridMap2D >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

◆ BASE

typedef utils::CDynamicGrid<TRandomFieldCell> mrpt::maps::CRandomFieldGridMap2D::BASE

private

Definition at line 157 of file CRandomFieldGridMap2D.h.

◆ ConstPtr

using mrpt::maps::CRandomFieldGridMap2D::ConstPtr = std::shared_ptr<const CRandomFieldGridMap2D >

Definition at line 159 of file CRandomFieldGridMap2D.h.

◆ Ptr

using mrpt::maps::CRandomFieldGridMap2D::Ptr = std::shared_ptr< CRandomFieldGridMap2D >

Definition at line 159 of file CRandomFieldGridMap2D.h.

Member Enumeration Documentation

◆ TGridInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap2D::TGridInterpolationMethod

Enumerator
gimNearest
gimBilinear

Definition at line 427 of file CRandomFieldGridMap2D.h.

◆ TMapRepresentation

enum mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation

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

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

Definition at line 175 of file CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

◆ CRandomFieldGridMap2D()

CRandomFieldGridMap2D::CRandomFieldGridMap2D	(	TMapRepresentation	mapType = `mrKernelDM`,
		double	x_min = `-2`,
		double	x_max = `2`,
		double	y_min = `-2`,
		double	y_max = `2`,
		double	resolution = `0.1`
	)

Constructor.

Definition at line 42 of file CRandomFieldGridMap2D.cpp.

◆ ~CRandomFieldGridMap2D()

CRandomFieldGridMap2D::~CRandomFieldGridMap2D ( )

virtual

Destructor.

Definition at line 65 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap2D::_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 289 of file CMetricMap.h.

◆ canComputeObservationLikelihood() [1/2]

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 180 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

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

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 121 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 86 of file CMetricMap.cpp.

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

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◆ cell2float() [1/2]

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

inlineoverride

Definition at line 167 of file CRandomFieldGridMap2D.h.

◆ cell2float() [2/2]

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

inlinevirtualinherited

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

Definition at line 322 of file CDynamicGrid.h.

References MRPT_UNUSED_PARAM.

◆ cellByIndex() [1/2]

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

inlineinherited

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

Definition at line 234 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

Referenced by getAs3DObject(), getAsMatrix(), predictMeasurement(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ cellByIndex() [2/2]

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

inlineinherited

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

Definition at line 245 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

◆ cellByPos() [1/2]

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

inlineinherited

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

Definition at line 213 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

Referenced by insertObservation_GMRF(), insertObservation_KF(), and insertObservation_KF2().

◆ cellByPos() [2/2]

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

inlineinherited

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

Definition at line 222 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

◆ clear()

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

inline

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

Definition at line 165 of file CRandomFieldGridMap2D.h.

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

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◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

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

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ compute3DMatchingRatio()

float CRandomFieldGridMap2D::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 2733 of file CRandomFieldGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

◆ computeConfidenceCellValue_DM_DMV()

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

protected

Computes the confidence of the cell concentration (alpha)

Definition at line 1991 of file CRandomFieldGridMap2D.cpp.

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

Referenced by saveMetricMapRepresentationToFile().

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◆ computeMeanCellValue_DM_DMV()

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

protected

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

Definition at line 2004 of file CRandomFieldGridMap2D.cpp.

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

Referenced by getAs3DObject(), getAsMatrix(), predictMeasurement(), and saveMetricMapRepresentationToFile().

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◆ computeObservationLikelihood() [1/2]

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

inherited

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

See: Maps and observations compatibility matrix

Parameters

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

Returns: This method returns a log-likelihood.

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

Definition at line 189 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 77 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 67 of file CMetricMap.cpp.

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

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

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◆ computeVarCellValue_DM_DMV()

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

protected

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

Definition at line 2020 of file CRandomFieldGridMap2D.cpp.

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

Referenced by getAs3DObject(), predictMeasurement(), and saveMetricMapRepresentationToFile().

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◆ determineMatching2D()

void CMetricMap::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::utils::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::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 127 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, 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::utils::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 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

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◆ dyngridcommon_readFromStream()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream	(	mrpt::utils::CStream &	in,
		bool	cast_from_float = `false`
	)

inlineprotectedinherited

Definition at line 355 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), and mrpt::maps::CWirelessPowerGridMap2D::readFromStream().

◆ dyngridcommon_writeToStream()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream ( mrpt::utils::CStream & out ) const

inlineprotectedinherited

Definition at line 348 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ enableProfiler()

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

inline

Definition at line 481 of file CRandomFieldGridMap2D.h.

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

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◆ enableVerbose()

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

inline

Definition at line 472 of file CRandomFieldGridMap2D.h.

◆ exist_relation_between2cells()

bool CRandomFieldGridMap2D::exist_relation_between2cells	(	const mrpt::maps::COccupancyGridMap2D *	m_Ocgridmap,
		size_t	cxo_min,
		size_t	cxo_max,
		size_t	cyo_min,
		size_t	cyo_max,
		const size_t	seed_cxo,
		const size_t	seed_cyo,
		const size_t	objective_cxo,
		const size_t	objective_cyo
	)

protected

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

Definition at line 2619 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), and min.

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◆ fill()

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

inlineinherited

Fills all the cells with the same value.

Definition at line 119 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

◆ getAs3DObject() [1/2]

void CRandomFieldGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

overridevirtual

Returns a 3D object representing the map (mean)

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

Definition at line 1609 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, and mrpt::maps::CMetricMap::genericMapParams.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::getAs3DObject(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), and mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject().

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◆ getAs3DObject() [2/2]

void CRandomFieldGridMap2D::getAs3DObject	(	mrpt::opengl::CSetOfObjects::Ptr &	meanObj,
		mrpt::opengl::CSetOfObjects::Ptr &	varObj
	)		const

virtual

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

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, and mrpt::maps::CHeightGridMap2D_MRF.

Definition at line 1623 of file CRandomFieldGridMap2D.cpp.

References mrpt::opengl::CSetOfTriangles::TTriangle::a, ASSERT_, mrpt::opengl::CSetOfTriangles::TTriangle::b, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByIndex(), computeMeanCellValue_DM_DMV(), computeVarCellValue_DM_DMV(), mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::opengl::CSetOfTriangles::TTriangle::g, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::utils::jet2rgb(), mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, m_insertOptions_common, m_mapType, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_y_min, min, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, mrKernelDMV, mrpt::opengl::CSetOfTriangles::TTriangle::r, recoverMeanAndCov(), mrpt::mrpt::utils::saturate_val(), mrpt::math::square(), mrpt::opengl::CSetOfTriangles::TTriangle::x, mrpt::opengl::CSetOfTriangles::TTriangle::y, and mrpt::opengl::CSetOfTriangles::TTriangle::z.

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◆ getAsBitmapFile()

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

virtual

Returns an image just as described in saveAsBitmapFile.

Definition at line 870 of file CRandomFieldGridMap2D.cpp.

References getAsMatrix(), MRPT_END, MRPT_START, and mrpt::utils::CImage::setFromMatrix().

Referenced by saveAsBitmapFile().

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◆ getAsMatlab3DGraphScript()

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

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

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

◆ getAsMatrix() [1/2]

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

virtual

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

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

Definition at line 825 of file CRandomFieldGridMap2D.cpp.

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

Referenced by getAsBitmapFile().

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◆ getAsMatrix() [2/2]

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

inlineinherited

Get the entire grid as a matrix.

Template Parameters

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

Parameters

[out] m The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).

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

Definition at line 311 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_size_x, and mrpt::utils::CDynamicGrid< T >::m_size_y.

◆ 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 NULL

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

Definition at line 301 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

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◆ getAsSimplePointsMap() [2/2]

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

inlinevirtualinherited

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

Definition at line 305 of file CMetricMap.h.

◆ getCommonInsertOptions()

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

protectedpure virtual

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

Implemented in mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

◆ getMapType()

CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )

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

Definition at line 2471 of file CRandomFieldGridMap2D.cpp.

References m_mapType.

◆ getMeanAndCov()

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

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

Definition at line 2423 of file CRandomFieldGridMap2D.cpp.

References m_cov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and recoverMeanAndCov().

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◆ getMeanAndSTD()

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

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

Definition at line 2437 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, and m_stackedCov.

◆ getResolution()

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

inlineinherited

Returns the resolution of the grid map.

Definition at line 266 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), and mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap2D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CGasConcentrationGridMap2D, and mrpt::maps::CWirelessPowerGridMap2D.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::CRandomFieldGridMap2D::GetRuntimeClassIdStatic ( )

static

◆ getSizeX()

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

inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 254 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ getSizeY()

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

inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 256 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_y.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ getXMax()

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

inlineinherited

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

Definition at line 260 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_max.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

◆ getXMin()

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

inlineinherited

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

Definition at line 258 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

◆ getYMax()

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

inlineinherited

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

Definition at line 264 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_max.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

◆ getYMin()

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

inlineinherited

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

Definition at line 262 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject().

◆ hasSubscribers()

bool mrpt::utils::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 57 of file CObservable.h.

References mrpt::utils::CObservable::m_subscribers.

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

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◆ idx2cxcy()

void mrpt::utils::CDynamicGrid< TRandomFieldCell >::idx2cxcy	(	const 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 283 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x.

Referenced by insertObservation_KF2(), resize(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ idx2x()

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

inlineinherited

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

Definition at line 291 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by predictMeasurement(), and saveMetricMapRepresentationToFile().

◆ idx2y()

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

inlineinherited

Definition at line 295 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by predictMeasurement(), and saveMetricMapRepresentationToFile().

◆ insertIndividualReading()

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

Direct update of the map with a reading in a given position of the map, using the appropriate method according to mapType passed in the constructor.

This is a direct way to update the map, an alternative to the generic insertObservation() method which works with mrpt::obs::CObservation objects.

Parameters

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

Definition at line 2496 of file CRandomFieldGridMap2D.cpp.

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

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), and mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().

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◆ insertObservation()

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

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 95 of file CMetricMap.cpp.

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

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◆ insertObservation_GMRF()

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

protected

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

Parameters

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

Definition at line 2532 of file CRandomFieldGridMap2D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda, m_gmrf, m_mrf_factors_activeObs, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant, updateMapEstimation_GMRF(), mrpt::math::TPoint2D::x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D::y.

Referenced by insertIndividualReading().

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◆ insertObservation_KernelDM_DMV()

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

protected

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

Parameters

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

Definition at line 585 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::TRandomFieldCell::dm_mean, mrpt::maps::TRandomFieldCell::dm_mean_w, mrpt::maps::TRandomFieldCell::dmv_var_mean, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::utils::round(), mrpt::math::square(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

Referenced by insertIndividualReading().

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◆ insertObservation_KF()

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

protected

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

Parameters

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

Definition at line 1204 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::utils::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean, m_cov, m_insertOptions_common, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::system::os::memcpy(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, resize(), mrpt::math::square(), mrpt::utils::CTicTac::Tac(), mrpt::utils::CTicTac::Tic(), mrpt::math::TPoint2D::x, mrpt::utils::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D::y.

Referenced by insertIndividualReading().

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◆ insertObservation_KF2()

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

protected

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

Parameters

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

Definition at line 2194 of file CRandomFieldGridMap2D.cpp.

Referenced by insertIndividualReading().

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◆ insertObservationPtr()

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

inherited

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

See: Maps and observations compatibility matrix

Definition at line 109 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 CRandomFieldGridMap2D::internal_clear ( )

overrideprotectedvirtual

Erase all the contents of the map.

Implements mrpt::maps::CMetricMap.

Reimplemented in mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

Definition at line 86 of file CRandomFieldGridMap2D.cpp.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_clear(), mrpt::maps::CHeightGridMap2D_MRF::internal_clear(), and mrpt::maps::CGasConcentrationGridMap2D::internal_clear().

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◆ isEmpty()

bool CRandomFieldGridMap2D::isEmpty ( ) const

overridevirtual

Returns true if the map is empty/no observation has been inserted (in this class it always return false, unless redefined otherwise in base classes)

Implements mrpt::maps::CMetricMap.

Definition at line 576 of file CRandomFieldGridMap2D.cpp.

◆ isEnabledVerbose()

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

inline

Definition at line 476 of file CRandomFieldGridMap2D.h.

◆ isProfilerEnabled()

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

inline

Definition at line 485 of file CRandomFieldGridMap2D.h.

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

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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 37 of file CMetricMap.cpp.

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

Referenced by mrpt::maps::CMetricMap::loadFromSimpleMap(), 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 109 of file CMetricMap.h.

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

Referenced by internal_clear().

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◆ m_map_castaway_const()

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

inlineprotectedinherited

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

Definition at line 47 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map.

Referenced by recoverMeanAndCov().

◆ predictMeasurement()

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

virtual

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

Parameters

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

Definition at line 2043 of file CRandomFieldGridMap2D.cpp.

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◆ publishEvent()

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

protectedinherited

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

Definition at line 47 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(), and mrpt::opengl::COpenGLViewport::render().

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◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

◆ recoverMeanAndCov()

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const

protected

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

See also: m_hasToRecoverMeanAndCov

Definition at line 2409 of file CRandomFieldGridMap2D.cpp.

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

Referenced by getAs3DObject(), getAsMatrix(), getMeanAndCov(), mrpt::maps::CGasConcentrationGridMap2D::increaseUncertainty(), predictMeasurement(), saveAsMatlab3DGraph(), saveMetricMapRepresentationToFile(), setMeanAndSTD(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

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◆ resize() [1/2]

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

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 129 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, mrpt::utils::CDynamicGrid< T >::m_y_min, and mrpt::utils::round().

◆ resize() [2/2]

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

overridevirtual

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 883 of file CRandomFieldGridMap2D.cpp.

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

Referenced by insertObservation_KF(), and insertObservation_KF2().

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◆ saveAsBitmapFile()

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

virtual

Save the current map as a graphical file (BMP,PNG,...).

The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $\sum{\frac{wR}{w}}$ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell.

See also: getAsBitmapFile()

Definition at line 813 of file CRandomFieldGridMap2D.cpp.

References getAsBitmapFile(), MRPT_END, and MRPT_START.

Referenced by saveMetricMapRepresentationToFile().

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◆ saveAsMatlab3DGraph()

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

virtual

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

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

See also: getAsMatlab3DGraphScript

Definition at line 1469 of file CRandomFieldGridMap2D.cpp.

Referenced by saveMetricMapRepresentationToFile().

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◆ saveMetricMapRepresentationToFile()

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

overridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 1324 of file CRandomFieldGridMap2D.cpp.

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◆ saveToTextFile()

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

inlineinherited

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

Returns: false on error

Definition at line 329 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

◆ setCellsConnectivity()

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

Sets a custom object to define the connectivity between cells.

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

Definition at line 77 of file CRandomFieldGridMap2D.cpp.

◆ setMeanAndSTD()

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

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

Definition at line 2454 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, m_hasToRecoverMeanAndCov, mrpt::utils::CDynamicGrid< TRandomFieldCell >::m_map, m_stackedCov, recoverMeanAndCov(), and mrpt::math::square().

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◆ setSize() [1/2]

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

inlineinherited

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

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default cell value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing.

See also: resize, fill

Definition at line 84 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_map, mrpt::utils::CDynamicGrid< T >::m_resolution, mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::m_size_y, mrpt::utils::CDynamicGrid< T >::m_x_max, mrpt::utils::CDynamicGrid< T >::m_x_min, mrpt::utils::CDynamicGrid< T >::m_y_max, mrpt::utils::CDynamicGrid< T >::m_y_min, and mrpt::utils::round().

◆ setSize() [2/2]

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

virtual

Changes the size of the grid, erasing previous contents.

Parameters

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

See also: resize; resize

Definition at line 67 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), and setSize().

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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 170 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ updateMapEstimation()

void CRandomFieldGridMap2D::updateMapEstimation ( )

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

Definition at line 2476 of file CRandomFieldGridMap2D.cpp.

References m_mapType, mrGMRF_SD, mrKalmanApproximate, mrKalmanFilter, mrKernelDM, mrKernelDMV, THROW_EXCEPTION, and updateMapEstimation_GMRF().

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◆ updateMapEstimation_GMRF()

void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )

protected

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

Definition at line 2568 of file CRandomFieldGridMap2D.cpp.

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

Referenced by insertObservation_GMRF(), and updateMapEstimation().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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◆ x2idx()

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

inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 268 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_x_min.

Referenced by insertObservation_KF2(), and predictMeasurement().

◆ xy2idx()

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

inlineinherited

Definition at line 276 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_size_x, mrpt::utils::CDynamicGrid< T >::x2idx(), and mrpt::utils::CDynamicGrid< T >::y2idx().

Referenced by insertObservation_GMRF(), insertObservation_KF(), and insertObservation_KF2().

◆ y2idx()

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

inlineinherited

Definition at line 272 of file CDynamicGrid.h.

References mrpt::utils::CDynamicGrid< T >::m_resolution, and mrpt::utils::CDynamicGrid< T >::m_y_min.

Referenced by insertObservation_KF2(), and predictMeasurement().

Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 159 of file CRandomFieldGridMap2D.h.

Member Data Documentation

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 281 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CReflectivityGridMap2D::readFromStream(), mrpt::maps::CHeightGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), mrpt::maps::CReflectivityGridMap2D::writeToStream(), and mrpt::maps::CHeightGridMap2D::writeToStream().

◆ m_average_normreadings_count

size_t mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count

protected

Definition at line 521 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ m_average_normreadings_mean

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean

protected

Definition at line 520 of file CRandomFieldGridMap2D.h.

Referenced by computeMeanCellValue_DM_DMV(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ m_average_normreadings_var

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var

protected

Definition at line 520 of file CRandomFieldGridMap2D.h.

Referenced by computeVarCellValue_DM_DMV(), mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ m_cov

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

protected

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

Definition at line 504 of file CRandomFieldGridMap2D.h.

Referenced by getMeanAndCov(), insertObservation_KF(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), resize(), saveMetricMapRepresentationToFile(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ m_DM_gaussWindow

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

protected

Definition at line 519 of file CRandomFieldGridMap2D.h.

◆ m_DM_lastCutOff

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff

protected

Definition at line 518 of file CRandomFieldGridMap2D.h.

◆ m_gmrf

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

protected

Definition at line 527 of file CRandomFieldGridMap2D.h.

Referenced by enableProfiler(), insertObservation_GMRF(), isProfilerEnabled(), and updateMapEstimation_GMRF().

◆ m_gmrf_connectivity

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

protected

Empty: default.

Definition at line 525 of file CRandomFieldGridMap2D.h.

◆ m_hasToRecoverMeanAndCov

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov

mutableprotected

Only for the KF2 implementation.

Definition at line 514 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::increaseUncertainty(), insertObservation_KF2(), predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), recoverMeanAndCov(), setMeanAndSTD(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ m_insertOptions_common

TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common

protected

Common options to all random-field grid maps: pointer that is set to the derived-class instance of "insertOptions" upon construction of this class.

Definition at line 492 of file CRandomFieldGridMap2D.h.

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

◆ m_map

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

protectedinherited

The cells.

Definition at line 44 of file CDynamicGrid.h.

Referenced by getMeanAndCov(), getMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::getWindAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::increaseUncertainty(), insertObservation_KF(), insertObservation_KF2(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), recoverMeanAndCov(), resize(), setMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection(), updateMapEstimation_GMRF(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

◆ m_mapType

TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType

protected

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

Definition at line 500 of file CRandomFieldGridMap2D.h.

Referenced by getAs3DObject(), getAsMatrix(), getMapType(), insertIndividualReading(), predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), recoverMeanAndCov(), resize(), saveAsMatlab3DGraph(), saveMetricMapRepresentationToFile(), updateMapEstimation(), mrpt::maps::CGasConcentrationGridMap2D::writeToStream(), and mrpt::maps::CWirelessPowerGridMap2D::writeToStream().

◆ m_mrf_factors_activeObs

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

protected

Vector with the active observations and their respective Information.

Definition at line 575 of file CRandomFieldGridMap2D.h.

Referenced by insertObservation_GMRF(), and updateMapEstimation_GMRF().

◆ m_mrf_factors_priors

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

protected

Vector with the precomputed priors for each GMRF model.

Definition at line 577 of file CRandomFieldGridMap2D.h.

◆ m_resolution

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

protectedinherited

Definition at line 52 of file CDynamicGrid.h.

Referenced by getAs3DObject(), insertObservation_KF2(), predictMeasurement(), resize(), and saveAsMatlab3DGraph().

◆ m_rfgm_run_update_upon_clear

bool mrpt::maps::CRandomFieldGridMap2D::m_rfgm_run_update_upon_clear

protected

Definition at line 487 of file CRandomFieldGridMap2D.h.

◆ m_size_x

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

protectedinherited

Definition at line 53 of file CDynamicGrid.h.

Referenced by getAs3DObject(), getAsMatrix(), insertObservation_KF2(), resize(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ m_size_y

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

protectedinherited

Definition at line 53 of file CDynamicGrid.h.

Referenced by getAs3DObject(), getAsMatrix(), insertObservation_KF2(), resize(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ m_stackedCov

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

protected

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 512 of file CRandomFieldGridMap2D.h.

Referenced by getMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::increaseUncertainty(), insertObservation_KF2(), mrpt::maps::CWirelessPowerGridMap2D::readFromStream(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), recoverMeanAndCov(), resize(), saveMetricMapRepresentationToFile(), setMeanAndSTD(), mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection(), mrpt::maps::CWirelessPowerGridMap2D::writeToStream(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

◆ m_x_max

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

protectedinherited

Definition at line 52 of file CDynamicGrid.h.

Referenced by predictMeasurement(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ m_x_min

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

protectedinherited

Definition at line 52 of file CDynamicGrid.h.

Referenced by getAs3DObject(), predictMeasurement(), resize(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ m_y_max

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

protectedinherited

Definition at line 52 of file CDynamicGrid.h.

Referenced by saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ m_y_min

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

protectedinherited

Definition at line 52 of file CDynamicGrid.h.

Referenced by getAs3DObject(), predictMeasurement(), resize(), saveAsMatlab3DGraph(), and saveMetricMapRepresentationToFile().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CRandomFieldGridMap2D::runtimeClassId

staticprotected

Definition at line 159 of file CRandomFieldGridMap2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Types

RTTI stuff

Member Typedef Documentation

◆ BASE

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ TGridInterpolationMethod

◆ TMapRepresentation

Constructor & Destructor Documentation

◆ CRandomFieldGridMap2D()

◆ ~CRandomFieldGridMap2D()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ cell2float() [1/2]

◆ cell2float() [2/2]

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeConfidenceCellValue_DM_DMV()

◆ computeMeanCellValue_DM_DMV()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ computeVarCellValue_DM_DMV()

◆ determineMatching2D()

◆ determineMatching3D()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ enableProfiler()

◆ enableVerbose()

◆ exist_relation_between2cells()

◆ fill()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getAsBitmapFile()

◆ getAsMatlab3DGraphScript()

◆ getAsMatrix() [1/2]

◆ getAsMatrix() [2/2]

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getCommonInsertOptions()

◆ getMapType()

◆ getMeanAndCov()

◆ getMeanAndSTD()

◆ getResolution()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSizeX()

◆ getSizeY()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ hasSubscribers()

◆ idx2cxcy()

◆ idx2x()

◆ idx2y()

◆ insertIndividualReading()

◆ insertObservation()

◆ insertObservation_GMRF()

◆ insertObservation_KernelDM_DMV()

◆ insertObservation_KF()

◆ insertObservation_KF2()

◆ insertObservationPtr()