Detailed Description

The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.

Definition at line 135 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Public Types
typedef internal::TSequenceLandmarks::iterator	iterator

typedef internal::TSequenceLandmarks::const_iterator	const_iterator

Public Member Functions
	TCustomSequenceLandmarks ()
	Default constructor. More...

iterator	begin ()

iterator	end ()

void	clear ()

size_t	size () const

const_iterator	begin () const

const_iterator	end () const

void	push_back (const CLandmark &lm)
	The object is copied, thus the original copy passed as a parameter can be released. More...

CLandmark *	get (unsigned int indx)

const CLandmark *	get (unsigned int indx) const

void	isToBeModified (unsigned int indx)

void	hasBeenModified (unsigned int indx)

void	hasBeenModifiedAll ()

void	erase (unsigned int indx)

mrpt::utils::CDynamicGrid< vector_int > *	getGrid ()

const CLandmark *	getByID (CLandmark::TLandmarkID ID) const
	Returns the landmark with a given landmrk ID, or nullptr if not found. More...

const CLandmark *	getByBeaconID (unsigned int ID) const
	Returns the landmark with a given beacon ID, or nullptr if not found. More...

float	getLargestDistanceFromOrigin () const
	This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...

Private Attributes
internal::TSequenceLandmarks	m_landmarks
	The actual list. More...

mrpt::utils::CDynamicGrid< vector_int >	m_grid
	A grid-map with the set of landmarks falling into each cell. More...

float	m_largestDistanceFromOrigin
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

bool	m_largestDistanceFromOriginIsUpdated
	Auxiliary variables used in "getLargestDistanceFromOrigin". More...

Member Typedef Documentation

◆ const_iterator

typedef internal::TSequenceLandmarks::const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator

Definition at line 165 of file CLandmarksMap.h.

◆ iterator

typedef internal::TSequenceLandmarks::iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator

Definition at line 161 of file CLandmarksMap.h.

Constructor & Destructor Documentation

◆ TCustomSequenceLandmarks()

CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks ( )

Default constructor.

Definition at line 1872 of file CLandmarksMap.cpp.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( )

inline

Definition at line 162 of file CLandmarksMap.h.

References m_landmarks.

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◆ begin() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( ) const

inline

Definition at line 167 of file CLandmarksMap.h.

References m_landmarks.

◆ clear()

void CLandmarksMap::TCustomSequenceLandmarks::clear ( )

Definition at line 1880 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::changeCoordinatesReference(), mrpt::maps::CLandmarksMap::CLandmarksMap(), mrpt::maps::CLandmarksMap::internal_clear(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::readFromStream(), and mrpt::maps::CLandmarksMap::~CLandmarksMap().

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◆ end() [1/2]

iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( )

inline

Definition at line 163 of file CLandmarksMap.h.

References m_landmarks.

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◆ end() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( ) const

inline

Definition at line 168 of file CLandmarksMap.h.

References m_landmarks.

◆ erase()

void CLandmarksMap::TCustomSequenceLandmarks::erase ( unsigned int indx )

Definition at line 1940 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::fuseWith().

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◆ get() [1/2]

CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get ( unsigned int indx )

Definition at line 1911 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007(), mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::fuseWith().

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◆ get() [2/2]

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get ( unsigned int indx ) const

Definition at line 1916 of file CLandmarksMap.cpp.

◆ getByBeaconID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID ( unsigned int ID ) const

Returns the landmark with a given beacon ID, or nullptr if not found.

Definition at line 2717 of file CLandmarksMap.cpp.

Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

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◆ getByID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID ( CLandmark::TLandmarkID ID ) const

Returns the landmark with a given landmrk ID, or nullptr if not found.

Definition at line 2696 of file CLandmarksMap.cpp.

◆ getGrid()

mrpt::utils::CDynamicGrid<vector_int>* mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getGrid ( )

inline

Definition at line 180 of file CLandmarksMap.h.

References m_grid.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_RSLC_2007().

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◆ getLargestDistanceFromOrigin()

float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin ( ) const

This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).

Definition at line 2003 of file CLandmarksMap.cpp.

References begin(), and mrpt::math::square().

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

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