MRPT  1.9.9
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mrpt::maps::CGasConcentrationGridMap2D Class Reference

Detailed Description

CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.

There are a number of methods available to build the gas grid-map, depending on the value of "TMapRepresentation maptype" passed in the constructor (see base class mrpt::maps::CRandomFieldGridMap2D).

Update the map with insertIndividualReading() or insertObservation()

See also
mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::containers::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

Definition at line 32 of file CGasConcentrationGridMap2D.h.

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::maps::CGasConcentrationGridMap2D:

Classes

struct  TGaussianCell
 
struct  TGaussianWindTable
 
struct  TInsertionOptions
 Parameters related with inserting observations into the map: More...
 
struct  TMapDefinition
 
struct  TMapDefinitionBase
 

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

 CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
 Constructor. More...
 
 ~CGasConcentrationGridMap2D () override
 Destructor. More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
 Returns a 3D object representing the map. More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &meanObj, mrpt::opengl::CSetOfObjects::Ptr &varObj) const override
 Returns two 3D objects representing the mean and variance maps. More...
 
void getWindAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &windObj) const
 Returns the 3D object representing the wind grid information. More...
 
virtual void increaseUncertainty (const double STD_increase_value)
 Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simulate loss of confidence in measurements when time passes. More...
 
bool simulateAdvection (const double &STD_increase_value)
 Implements the transition model of the gasConcentration map using the information of the wind maps. More...
 
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
 
virtual float cell2float (const TRandomFieldCell &) const
 The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
 
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::img::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...
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
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 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...
 
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 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 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...
 
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...
 
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=nullptr)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
virtual void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...
 
virtual float squareDistanceToClosestCorrespondence (float x0, float y0) const
 Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...
 
virtual const mrpt::maps::CSimplePointsMapgetAsSimplePointsMap () const
 If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...
 
mrpt::maps::CSimplePointsMapgetAsSimplePointsMap ()
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
void fill (const TRandomFieldCell &value)
 Fills all the cells with the same value. More...
 
TRandomFieldCellcellByPos (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 TRandomFieldCellcellByPos (double x, double y) const
 
TRandomFieldCellcellByIndex (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 TRandomFieldCellcellByIndex (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
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Public Attributes

mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions insertionOptions
 
TGaussianWindTable LUT
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Protected Member Functions

CRandomFieldGridMap2D::TInsertionOptionsCommongetCommonInsertOptions () override
 Get the part of the options common to all CRandomFieldGridMap2D classes. More...
 
void internal_clear () override
 Internal method called by clear() More...
 
bool internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
 Internal method called by insertObservation() More...
 
double internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
 Internal method called by computeObservationLikelihood() More...
 
bool build_Gaussian_Wind_Grid ()
 Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value. More...
 
bool save_Gaussian_Wind_Grid_To_File ()
 
bool load_Gaussian_Wind_Grid_From_File ()
 
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...
 
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...
 
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 (STREAM &out) const
 
void dyngridcommon_readFromStream (STREAM &in, bool cast_from_float=false)
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

mrpt::containers::CDynamicGrid< double > windGrid_module
 Gridmaps of the wind Direction/Module. More...
 
mrpt::containers::CDynamicGrid< double > windGrid_direction
 
mrpt::system::TTimeStamp timeLastSimulated
 The timestamp of the last time the advection simulation was executed. More...
 
bool m_rfgm_run_update_upon_clear {true}
 
TInsertionOptionsCommonm_insertOptions_common {nullptr}
 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 {true}
 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< TPriorFactorGMRFm_mrf_factors_priors
 Vector with the precomputed priors for each GMRF model. More...
 
std::vector< TRandomFieldCellm_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
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
Auxiliary vars for DM & DM+V methods
float m_DM_lastCutOff {0}
 
std::vector< float > m_DM_gaussWindow
 
double m_average_normreadings_mean {0}
 
double m_average_normreadings_var {0}
 
size_t m_average_normreadings_count {0}
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::maps ::CGasConcentrationGridMap2D >
 
using ConstPtr = std::shared_ptr< const mrpt::maps ::CGasConcentrationGridMap2D >
 
using UniquePtr = std::unique_ptr< mrpt::maps ::CGasConcentrationGridMap2D >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CGasConcentrationGridMap2D >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::maps" "::" "CGasConcentrationGridMap2D"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

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

static const size_t m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CGasConcentrationGridMap2D,gasGrid" , & mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition, & mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CGasConcentrationGridMap2DCreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...
 
static mrpt::maps::CMetricMapinternal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ ConstUniquePtr

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ UniquePtr

Definition at line 34 of file CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

◆ TGridInterpolationMethod

Enumerator
gimNearest 
gimBilinear 

Definition at line 422 of file CRandomFieldGridMap2D.h.

◆ 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 171 of file CRandomFieldGridMap2D.h.

Constructor & Destructor Documentation

◆ CGasConcentrationGridMap2D()

mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D ( TMapRepresentation  mapType = mrAchim,
float  x_min = -2,
float  x_max = 2,
float  y_min = -2,
float  y_max = 2,
float  resolution = 0.1 
)

Constructor.

◆ ~CGasConcentrationGridMap2D()

CGasConcentrationGridMap2D::~CGasConcentrationGridMap2D ( )
overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::_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 283 of file CMetricMap.h.

◆ build_Gaussian_Wind_Grid()

bool CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid ( )
protected

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific std_windNoise_phi value.

Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a specific condition.

The LUT contains the values of the Gaussian Weigths and the references to the cell indexes to be applied. Since the LUT is independent of the wind direction and angle, it generates the Gaussian Weights for different configurations of wind angle and module values.

To increase precission, each cell of the grid is sub-divided in subcells of smaller size.

cell_i --> Cell origin (We consider our reference system in the bottom left

corner of cell_i ). Is the cell that contains the gas measurement which will be propagated by the wind. The wind propagates in the shape of a 2D Gaussian with center in the target cell (cell_j) cell_j –> Target cell. Is the cell where falls the center of the Gaussian that models the propagation of the gas comming from cell_i.

Definition at line 873 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::advectionFreq, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cx, mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::cy, mrpt::system::os::fclose(), mrpt::system::fileExists(), mrpt::system::os::fopen(), mrpt::format(), mrpt::system::os::fprintf(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getResolution(), insertionOptions, load_Gaussian_Wind_Grid_From_File(), LUT, LUT_TABLE, M_PI, M_PIf, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::resolution, mrpt::round(), save_Gaussian_Wind_Grid_To_File(), mrpt::square(), mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_phi, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::std_r, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_mod, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_phi, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::table, and mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell::value.

Referenced by internal_clear().

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◆ canComputeObservationLikelihood()

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation obs) const
virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 172 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
sfThe observations.
See also
canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

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

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◆ cell2float() [1/2]

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

Definition at line 163 of file CRandomFieldGridMap2D.h.

◆ cell2float() [2/2]

virtual float mrpt::containers::CDynamicGrid< TRandomFieldCell >::cell2float ( const TRandomFieldCell &  ) 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 310 of file CDynamicGrid.h.

◆ cellByIndex() [1/2]

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

◆ cellByIndex() [2/2]

const TRandomFieldCell * mrpt::containers::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 233 of file CDynamicGrid.h.

◆ cellByPos() [1/2]

TRandomFieldCell * mrpt::containers::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 201 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

◆ cellByPos() [2/2]

const TRandomFieldCell * mrpt::containers::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 210 of file CDynamicGrid.h.

◆ clear()

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

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

Definition at line 161 of file CRandomFieldGridMap2D.h.

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

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CGasConcentrationGridMap2D::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float CRandomFieldGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
const TMatchingRatioParams params 
) const
overridevirtualinherited

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 2703 of file CRandomFieldGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

◆ computeConfidenceCellValue_DM_DMV()

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

Computes the confidence of the cell concentration (alpha)

Definition at line 1967 of file CRandomFieldGridMap2D.cpp.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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◆ computeMeanCellValue_DM_DMV()

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

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

Definition at line 1978 of file CRandomFieldGridMap2D.cpp.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::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
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 181 of file CMetricMap.cpp.

Referenced by mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

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◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
inherited

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

Definition at line 76 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf,
const mrpt::poses::CPose2D takenFrom 
)
inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
sfThe set of observations in a CSensoryFrame.
Returns
This method returns a log-likelihood.
See also
canComputeObservationsLikelihood

Definition at line 66 of file CMetricMap.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

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◆ computeVarCellValue_DM_DMV()

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

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

Definition at line 1993 of file CRandomFieldGridMap2D.cpp.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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◆ Create()

template<typename... Args>
static Ptr mrpt::maps::CGasConcentrationGridMap2D::Create ( Args &&...  args)
inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::maps::CGasConcentrationGridMap2D::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ CreateFromMapDefinition()

mrpt::maps::CGasConcentrationGridMap2D * mrpt::maps::CGasConcentrationGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 40 of file CGasConcentrationGridMap2D.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CGasConcentrationGridMap2D::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::maps::CGasConcentrationGridMap2D::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ determineMatching2D()

void CMetricMap::determineMatching2D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose2D otherMapPose,
mrpt::tfest::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matching between this and another 2D point map, which includes finding:

  • The set of points pairs in each map
  • The mean squared distance between corresponding pairs.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See also
compute3DMatchingRatio

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap3D, mrpt::maps::CBeaconMap, and mrpt::maps::CMultiMetricMap.

Definition at line 119 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, 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::tfest::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

  • For each point in "otherMap":
    • Transform the point according to otherMapPose
    • Search with a KD-TREE the closest correspondences in "this" map.
    • Add to the set of candidate matchings, if it passes all the thresholds in params.
Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The pose of the other map as seen from "this".
params[IN] Parameters for the determination of pairings.
correspondences[OUT] The detected matchings pairs.
extraResults[OUT] Other results.
See also
compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 134 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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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ dyngridcommon_readFromStream()

void mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream ( STREAM &  in,
bool  cast_from_float = false 
)
inlineprotectedinherited

◆ dyngridcommon_writeToStream()

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

◆ enableProfiler()

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

Definition at line 476 of file CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::enableProfiler(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

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◆ enableVerbose()

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

Definition at line 467 of file CRandomFieldGridMap2D.h.

References mrpt::system::LVL_DEBUG, and mrpt::system::COutputLogger::setMinLoggingLevel().

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◆ 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 
)
protectedinherited

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

Definition at line 2590 of file CRandomFieldGridMap2D.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::math::MatrixVectorBase< Scalar, Derived >::fill(), mrpt::maps::COccupancyGridMap2D::getCell(), mrpt::maps::COccupancyGridMap2D::getSizeX(), mrpt::maps::COccupancyGridMap2D::getSizeY(), and mrpt::math::CMatrixDynamic< T >::rows().

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◆ fill()

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

Fills all the cells with the same value.

Definition at line 109 of file CDynamicGrid.h.

◆ getAs3DObject() [1/2]

void CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr outObj) const
overridevirtual

Returns a 3D object representing the map.

Implements mrpt::maps::CMetricMap.

Definition at line 548 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

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◆ getAs3DObject() [2/2]

void CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr meanObj,
mrpt::opengl::CSetOfObjects::Ptr varObj 
) const
overridevirtual

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

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

Definition at line 560 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::TMapGenericParams::enableSaveAs3DObject, mrpt::maps::CMetricMap::genericMapParams, mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), MRPT_END, and MRPT_START.

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◆ getAsBitmapFile()

void CRandomFieldGridMap2D::getAsBitmapFile ( mrpt::img::CImage out_img) const
virtualinherited

Returns an image just as described in saveAsBitmapFile.

Definition at line 847 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), MRPT_END, MRPT_START, and mrpt::img::CImage::setFromMatrix().

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile().

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◆ getAsMatlab3DGraphScript()

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

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
virtualinherited

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 802 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::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, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::math::CMatrixDynamic< T >::resize(), mrpt::saturate(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile().

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◆ getAsMatrix() [2/2]

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

Get the entire grid as a matrix.

Template Parameters
MATThe type of the matrix, typically a mrpt::math::CMatrixDouble.
Parameters
[out]mThe output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy).
Note
This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double).

Definition at line 299 of file CDynamicGrid.h.

◆ getAsSimplePointsMap() [1/2]

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

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return nullptr

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

Definition at line 296 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio(), and mrpt::maps::CMetricMap::getAsSimplePointsMap().

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◆ getAsSimplePointsMap() [2/2]

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

Definition at line 300 of file CMetricMap.h.

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

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◆ getClassName()

static constexpr auto mrpt::maps::CGasConcentrationGridMap2D::getClassName ( )
inlinestatic

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ getCommonInsertOptions()

CRandomFieldGridMap2D::TInsertionOptionsCommon* mrpt::maps::CGasConcentrationGridMap2D::getCommonInsertOptions ( )
inlineoverrideprotectedvirtual

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

Implements mrpt::maps::CRandomFieldGridMap2D.

Definition at line 142 of file CGasConcentrationGridMap2D.h.

References insertionOptions.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMapType()

CRandomFieldGridMap2D::TMapRepresentation CRandomFieldGridMap2D::getMapType ( )
inherited

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

Definition at line 2442 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType.

◆ getMeanAndCov()

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

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

Definition at line 2393 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), and mrpt::math::CVectorDynamic< T >::resize().

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◆ getMeanAndSTD()

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

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

Definition at line 2408 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::math::CVectorDynamic< T >::resize().

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◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getResolution()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getResolution ( ) const
inlineinherited

Returns the resolution of the grid map.

Definition at line 254 of file CDynamicGrid.h.

Referenced by build_Gaussian_Wind_Grid(), and getWindAs3DObject().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CGasConcentrationGridMap2D::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CRandomFieldGridMap2D.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CGasConcentrationGridMap2D::GetRuntimeClassIdStatic ( )
static

◆ getSizeX()

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeX ( ) const
inlineinherited

Returns the horizontal size of grid map in cells count.

Definition at line 242 of file CDynamicGrid.h.

Referenced by simulateAdvection().

◆ getSizeY()

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeY ( ) const
inlineinherited

Returns the vertical size of grid map in cells count.

Definition at line 244 of file CDynamicGrid.h.

Referenced by simulateAdvection().

◆ getWindAs3DObject()

void CGasConcentrationGridMap2D::getWindAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr windObj) const

◆ getXMax()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMax ( ) const
inlineinherited

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

Definition at line 248 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

◆ getXMin()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getXMin ( ) const
inlineinherited

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

Definition at line 246 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

◆ getYMax()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMax ( ) const
inlineinherited

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

Definition at line 252 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

◆ getYMin()

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::getYMin ( ) const
inlineinherited

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

Definition at line 250 of file CDynamicGrid.h.

Referenced by getWindAs3DObject().

◆ hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const
inlineprotectedinherited

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

Definition at line 53 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

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

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◆ idx2cxcy()

void mrpt::containers::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 271 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), and simulateAdvection().

◆ idx2x()

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

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

Definition at line 279 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), and mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

◆ idx2y()

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

◆ increaseUncertainty()

void CGasConcentrationGridMap2D::increaseUncertainty ( const double  STD_increase_value)
virtual

Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simulate loss of confidence in measurements when time passes.

Definition at line 638 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, and mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

Referenced by simulateAdvection().

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◆ 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 
)
inherited

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

Definition at line 2467 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KernelDM_DMV(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::square(), and THROW_EXCEPTION.

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

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◆ insertObservation()

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.
See also
CObservation::insertObservationInto

Definition at line 93 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::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 
)
protectedinherited

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

Parameters
normReadingIs a [0,1] normalized concentration reading.
pointIs the sensor location on the map

Definition at line 2503 of file CRandomFieldGridMap2D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::Lambda, mrpt::maps::CRandomFieldGridMap2D::m_gmrf, mrpt::maps::CRandomFieldGridMap2D::m_mrf_factors_activeObs, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::obsValue, mrpt::maps::CRandomFieldGridMap2D::TObservationGMRF::time_invariant, mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF(), mrpt::math::TPoint2D_data::x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx(), and mrpt::math::TPoint2D_data::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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◆ insertObservation_KernelDM_DMV()

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

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

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

Definition at line 583 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, resize(), mrpt::round(), mrpt::square(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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◆ insertObservation_KF()

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

◆ insertObservation_KF2()

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

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

Parameters
normReadingIs a [0,1] normalized concentration reading.
pointIs the sensor location on the map

Definition at line 2164 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByPos(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION_FMT, mrpt::system::CTicTac::Tic(), mrpt::math::TPoint2D_data::x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::x2idx(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::xy2idx(), mrpt::math::TPoint2D_data::y, and mrpt::containers::CDynamicGrid< TRandomFieldCell >::y2idx().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

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◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservation::Ptr obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
inherited

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ internal_clear()

void CGasConcentrationGridMap2D::internal_clear ( )
overrideprotectedvirtual

◆ internal_computeObservationLikelihood()

double CGasConcentrationGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
overrideprotectedvirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 283 of file CGasConcentrationGridMap2D.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CGasConcentrationGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

◆ internal_insertObservation()

bool CGasConcentrationGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
overrideprotectedvirtual

◆ isEmpty()

bool CRandomFieldGridMap2D::isEmpty ( ) const
overridevirtualinherited

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 574 of file CRandomFieldGridMap2D.cpp.

◆ isEnabledVerbose()

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

Definition at line 471 of file CRandomFieldGridMap2D.h.

References mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::LVL_DEBUG.

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isProfilerEnabled()

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

Definition at line 480 of file CRandomFieldGridMap2D.h.

References mrpt::graphs::ScalarFactorGraph::isProfilerEnabled(), and mrpt::maps::CRandomFieldGridMap2D::m_gmrf.

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◆ load_Gaussian_Wind_Grid_From_File()

bool CGasConcentrationGridMap2D::load_Gaussian_Wind_Grid_From_File ( )
protected

◆ 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::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

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

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::maps::CMetricMap::loadFromSimpleMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap Map)
inlineinherited

!

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

Definition at line 107 of file CMetricMap.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ m_map_castaway_const()

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

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

Definition at line 45 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov().

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CGasConcentrationGridMap2D::MapDefinition ( )
static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 40 of file CGasConcentrationGridMap2D.cpp.

◆ 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 
)
virtualinherited

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

Parameters
[in]xQuery X coordinate
[in]yQuery Y coordinate
[out]out_predict_responseThe output value
[out]out_predict_response_varianceThe output variance
[in]do_sensor_normalizationWhether to renormalize the prediction to a predefined interval (R values in insertionOptions)
[in]interp_methodInterpolation method

Definition at line 2015 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::gimBilinear, mrpt::maps::CRandomFieldGridMap2D::gimNearest, mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::square(), THROW_EXCEPTION, mrpt::containers::CDynamicGrid< TRandomFieldCell >::x2idx(), and mrpt::containers::CDynamicGrid< TRandomFieldCell >::y2idx().

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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 57 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

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◆ recoverMeanAndCov()

void CRandomFieldGridMap2D::recoverMeanAndCov ( ) const
protectedinherited

◆ resize() [1/2]

virtual void mrpt::containers::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 117 of file CDynamicGrid.h.

◆ 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 
)
overrideinherited

Changes the size of the grid, maintaining previous contents.

See also
setSize

Definition at line 860 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::containers::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, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::system::os::memcpy(), mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, MRPT_END, MRPT_END_WITH_CLEAN_UP, MRPT_LOG_DEBUG_FMT, MRPT_START, resize(), mrpt::round(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::square().

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), and mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2().

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◆ save_Gaussian_Wind_Grid_To_File()

bool CGasConcentrationGridMap2D::save_Gaussian_Wind_Grid_To_File ( )
protected

◆ saveAsBitmapFile()

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

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 790 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::getAsBitmapFile(), MRPT_END, and MRPT_START.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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◆ saveAsMatlab3DGraph()

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

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 1443 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min, mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, MRPT_END, MRPT_START, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::saturate_val(), and THROW_EXCEPTION.

Referenced by mrpt::maps::CRandomFieldGridMap2D::saveMetricMapRepresentationToFile().

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◆ saveMetricMapRepresentationToFile()

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

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

Implements mrpt::maps::CMetricMap.

Definition at line 1298 of file CRandomFieldGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< TRandomFieldCell >::cellByIndex(), mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV(), mrpt::maps::TRandomFieldCell::gmrf_mean, mrpt::maps::TRandomFieldCell::gmrf_std, mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2x(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2y(), mrpt::maps::TRandomFieldCell::kf_mean, mrpt::maps::TRandomFieldCell::kf_std, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min, mrpt::math::MATRIX_FORMAT_FIXED, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::maps::CRandomFieldGridMap2D::saveAsBitmapFile(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), mrpt::img::CImage::saveToFile(), mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile(), mrpt::img::CImage::setFromMatrix(), and THROW_EXCEPTION.

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◆ saveToTextFile()

bool mrpt::containers::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 313 of file CDynamicGrid.h.

◆ serializeFrom() [1/2]

void CGasConcentrationGridMap2D::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 343 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius, mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_readFromStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::math::mean(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, and mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CGasConcentrationGridMap2D::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 292 of file CGasConcentrationGridMap2D.cpp.

◆ serializeTo() [1/2]

void CGasConcentrationGridMap2D::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 293 of file CGasConcentrationGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius, mrpt::containers::CDynamicGrid< TRandomFieldCell >::dyngridcommon_writeToStream(), mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean, mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var, mrpt::maps::CRandomFieldGridMap2D::m_cov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, out, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min, and mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma.

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setCellsConnectivity()

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

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 73 of file CRandomFieldGridMap2D.cpp.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMeanAndSTD()

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

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

Definition at line 2425 of file CRandomFieldGridMap2D.cpp.

References ASSERT_, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::math::CVectorDynamic< T >::size(), and mrpt::square().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setSize() [1/2]

void mrpt::containers::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 74 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::setSize().

◆ 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 
)
virtualinherited

Changes the size of the grid, erasing previous contents.

Parameters
[in]connectivity_descriptorOptional 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 63 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CMetricMap::clear(), and mrpt::containers::CDynamicGrid< TRandomFieldCell >::setSize().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ simulateAdvection()

bool CGasConcentrationGridMap2D::simulateAdvection ( const double &  STD_increase_value)

Implements the transition model of the gasConcentration map using the information of the wind maps.

Definition at line 672 of file CGasConcentrationGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::getSizeY(), mrpt::containers::CDynamicGrid< TRandomFieldCell >::idx2cxcy(), increaseUncertainty(), insertionOptions, mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd, LUT, LUT_TABLE, mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov, mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map, mrpt::maps::CRandomFieldGridMap2D::m_stackedCov, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::max_r, mrpt::system::now(), mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::phi_inc, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_count, mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable::r_inc, mrpt::maps::CRandomFieldGridMap2D::recoverMeanAndCov(), mrpt::round(), mrpt::square(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::system::timeDifference(), timeLastSimulated, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation, windGrid_direction, and windGrid_module.

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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 162 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ updateMapEstimation()

void CRandomFieldGridMap2D::updateMapEstimation ( )
inherited

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

Definition at line 2447 of file CRandomFieldGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::m_mapType, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKernelDM, mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, THROW_EXCEPTION, and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

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◆ updateMapEstimation_GMRF()

void CRandomFieldGridMap2D::updateMapEstimation_GMRF ( )
protectedinherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ x2idx()

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

Transform a coordinate values into cell indexes.

Definition at line 256 of file CDynamicGrid.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), and mrpt::maps::CRandomFieldGridMap2D::predictMeasurement().

◆ xy2idx()

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

◆ y2idx()

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

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CGasConcentrationGridMap2D::className = "mrpt::maps" "::" "CGasConcentrationGridMap2D"
static

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams
inherited

◆ insertionOptions

mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions mrpt::maps::CGasConcentrationGridMap2D::insertionOptions

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ LUT

TGaussianWindTable mrpt::maps::CGasConcentrationGridMap2D::LUT

◆ m_average_normreadings_count

size_t mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_count {0}
protectedinherited

◆ m_average_normreadings_mean

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_mean {0}
protectedinherited

◆ m_average_normreadings_var

double mrpt::maps::CRandomFieldGridMap2D::m_average_normreadings_var {0}
protectedinherited

◆ m_cov

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

◆ m_DM_gaussWindow

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

Definition at line 515 of file CRandomFieldGridMap2D.h.

◆ m_DM_lastCutOff

float mrpt::maps::CRandomFieldGridMap2D::m_DM_lastCutOff {0}
protectedinherited

Definition at line 514 of file CRandomFieldGridMap2D.h.

◆ m_gmrf

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

◆ m_gmrf_connectivity

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

Empty: default.

Definition at line 521 of file CRandomFieldGridMap2D.h.

◆ m_hasToRecoverMeanAndCov

bool mrpt::maps::CRandomFieldGridMap2D::m_hasToRecoverMeanAndCov {true}
mutableprotectedinherited

◆ m_insertOptions_common

TInsertionOptionsCommon* mrpt::maps::CRandomFieldGridMap2D::m_insertOptions_common {nullptr}
protectedinherited

◆ m_map

std::vector<TRandomFieldCell > mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_map
protectedinherited

◆ m_mapType

TMapRepresentation mrpt::maps::CRandomFieldGridMap2D::m_mapType
protectedinherited

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_mrf_factors_activeObs

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

Vector with the active observations and their respective Information.

Definition at line 571 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_GMRF(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ m_mrf_factors_priors

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

Vector with the precomputed priors for each GMRF model.

Definition at line 573 of file CRandomFieldGridMap2D.h.

◆ m_private_map_register_id

const size_t mrpt::maps::CGasConcentrationGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::CGasConcentrationGridMap2D,gasGrid" , & mrpt::maps::CGasConcentrationGridMap2D ::MapDefinition, & mrpt::maps::CGasConcentrationGridMap2D ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 181 of file CGasConcentrationGridMap2D.h.

◆ m_resolution

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_resolution
protectedinherited

◆ m_rfgm_run_update_upon_clear

bool mrpt::maps::CRandomFieldGridMap2D::m_rfgm_run_update_upon_clear {true}
protectedinherited

Definition at line 483 of file CRandomFieldGridMap2D.h.

◆ m_size_x

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_x
protectedinherited

◆ m_size_y

size_t mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_size_y
protectedinherited

◆ m_stackedCov

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

◆ m_x_max

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_max
protectedinherited

◆ m_x_min

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_x_min
protectedinherited

◆ m_y_max

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_max
protectedinherited

◆ m_y_min

double mrpt::containers::CDynamicGrid< TRandomFieldCell >::m_y_min
protectedinherited

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CGasConcentrationGridMap2D::runtimeClassId
staticprotected

Definition at line 34 of file CGasConcentrationGridMap2D.h.

◆ timeLastSimulated

mrpt::system::TTimeStamp mrpt::maps::CGasConcentrationGridMap2D::timeLastSimulated
protected

The timestamp of the last time the advection simulation was executed.

Definition at line 170 of file CGasConcentrationGridMap2D.h.

Referenced by simulateAdvection().

◆ windGrid_direction

mrpt::containers::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_direction
protected

◆ windGrid_module

mrpt::containers::CDynamicGrid<double> mrpt::maps::CGasConcentrationGridMap2D::windGrid_module
protected

Gridmaps of the wind Direction/Module.

Definition at line 167 of file CGasConcentrationGridMap2D.h.

Referenced by getWindAs3DObject(), internal_clear(), and simulateAdvection().




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