MRPT  1.9.9
CWirelessPowerGridMap2D.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #pragma once
11 
14 
15 namespace mrpt::maps
16 {
17 /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D
18  * area.
19  *
20  * There are a number of methods available to build the wifi grid-map,
21  * depending on the value of
22  * "TMapRepresentation maptype" passed in the constructor (see
23  * CRandomFieldGridMap2D for a discussion).
24  *
25  * Update the map with insertIndividualReading() or insertObservation()
26  *
27  * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
28  * mrpt::containers::CDynamicGrid, The application icp-slam,
29  * mrpt::maps::CMultiMetricMap
30  * \ingroup mrpt_maps_grp
31  */
33 {
35  public:
36  /** Constructor */
38  TMapRepresentation mapType = mrKernelDM, double x_min = -2,
39  double x_max = 2, double y_min = -2, double y_max = 2,
40  double resolution = 0.1);
41 
42  /** Destructor */
43  ~CWirelessPowerGridMap2D() override;
44 
45  /** Parameters related with inserting observations into the map:
46  */
49  {
50  /** Default values loader */
52 
53  void loadFromConfigFile(
55  const std::string& section) override; // See base docs
56  void dumpToTextStream(
57  std::ostream& out) const override; // See base docs
58 
60 
61  /** Returns a 3D object representing the map */
62  void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;
63 
64  protected:
65  /** Get the part of the options common to all CRandomFieldGridMap2D classes
66  */
68  override
69  {
70  return &insertionOptions;
71  }
72 
73  // See docs in derived class
74  void internal_clear() override;
76  const mrpt::obs::CObservation& obs,
77  const mrpt::poses::CPose3D* robotPose = nullptr) override;
79  const mrpt::obs::CObservation& obs,
80  const mrpt::poses::CPose3D& takenFrom) override;
81 
83  /** See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D */
84  double min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
85  /** The kind of map representation (see
86  * CWirelessPowerGridMap2D::CWirelessPowerGridMap2D) */
91 };
92 
93 } // namespace mrpt::maps
Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D) ...
CWirelessPowerGridMap2D(TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOptions
Parameters related with inserting observations into the map:
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
This class allows loading and storing values and vectors of different types from a configuration text...
~CWirelessPowerGridMap2D() override
Destructor.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
GLsizei const GLchar ** string
Definition: glext.h:4116
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOpts
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot's observation.
Definition: CObservation.h:43
bool internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() override
Get the part of the options common to all CRandomFieldGridMap2D classes.
GLsizei GLsizei GLchar * source
Definition: glext.h:4097
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
#define MAP_DEFINITION_END(_CLASS_NAME_)
void internal_clear() override
Erase all the contents of the map.



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