MRPT  1.9.9
mrpt::maps::CHeightGridMap2D Class Reference

Detailed Description

Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location.

Important implemented features are the insertion of 2D laser scans (from arbitrary 6D poses) and the exportation as 3D scenes.

Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:

  • mrSimpleAverage: Each cell only stores the current average value.

This class implements generic version of mrpt::maps::CMetric::insertObservation() accepting these types of sensory data:

Definition at line 62 of file CHeightGridMap2D.h.

#include <mrpt/maps/CHeightGridMap2D.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D:

Classes

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

Public Types

enum  TMapRepresentation { mrSimpleAverage = 0 }
 The type of map representation to be used. More...
 

Public Member Functions

void clear ()
 Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes. More...
 
float cell2float (const THeightGridmapCell &c) const override
 
 CHeightGridMap2D (TMapRepresentation mapType=mrSimpleAverage, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
 Constructor. More...
 
bool isEmpty () const override
 Returns true if the map is empty/no observation has been inserted. 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 it always returns 0. More...
 
void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
 This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
 Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object, unless it is specified otherwise in mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH. More...
 
TMapRepresentation getMapType ()
 Return the type of the gas distribution map, according to parameters passed on construction. More...
 
size_t countObservedCells () const
 Return the number of cells with at least one height data inserted. More...
 
bool insertIndividualPoint (const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams &params=CHeightGridMap2D_Base::TPointInsertParams()) override
 Update the DEM with one new point. More...
 
double dem_get_resolution () const override
 
size_t dem_get_size_x () const override
 
size_t dem_get_size_y () const override
 
bool dem_get_z_by_cell (const size_t cx, const size_t cy, double &z_out) const override
 Get cell 'z' by (cx,cy) cell indices. More...
 
bool dem_get_z (const double x, const double y, double &z_out) const override
 Get cell 'z' (x,y) by metric coordinates. More...
 
void dem_update_map () override
 Ensure that all observations are reflected in the map estimate. 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...
 
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 setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double resolution, const THeightGridmapCell *fill_value=nullptr)
 Changes the size of the grid, ERASING all previous contents. More...
 
void fill (const THeightGridmapCell &value)
 Fills all the cells with the same value. More...
 
virtual void resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, const THeightGridmapCell &defaultValueNewCells, double additionalMarginMeters=2.0)
 Changes the size of the grid, maintaining previous contents. More...
 
THeightGridmapCellcellByPos (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 THeightGridmapCellcellByPos (double x, double y) const
 
THeightGridmapCellcellByIndex (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 THeightGridmapCellcellByIndex (unsigned int cx, unsigned int cy) const
 Returns a pointer to the contents of a cell given by its cell indexes, or nullptr if it is out of the map extensions. More...
 
size_t getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
size_t getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
double getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
double getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
double getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
double getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
double getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (double x) const
 Transform a coordinate values into cell indexes. More...
 
int y2idx (double y) const
 
int xy2idx (double x, double y) const
 
void idx2cxcy (const int &idx, int &cx, int &cy) const
 Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. More...
 
double idx2x (int cx) const
 Transform a cell index into a coordinate value of the cell central point. More...
 
double idx2y (int cy) const
 
void getAsMatrix (MAT &m) const
 Get the entire grid as a matrix. More...
 
virtual float cell2float (const THeightGridmapCell &) const
 The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. More...
 
bool saveToTextFile (const std::string &fileName) const
 Saves a float representation of the grid (via "cell2float()") to a text file. More...
 
bool dem_internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
 Internal method called by internal_insertObservation() 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...
 
Specific API for Digital Elevation Model (DEM) maps
bool intersectLine3D (const mrpt::math::TLine3D &r1, mrpt::math::TObject3D &obj) const
 Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell) More...
 
bool getMinMaxHeight (float &z_min, float &z_max) const
 Computes the minimum and maximum height in the grid. More...
 

Public Attributes

mrpt::maps::CHeightGridMap2D::TInsertionOptions insertionOptions
 
TMapRepresentation m_mapType
 The map representation type of this map. More...
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Protected Member Functions

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< THeightGridmapCell > & 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

std::vector< THeightGridmapCellm_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
 

RTTI stuff

using Ptr = std::shared_ptr< CHeightGridMap2D >
 
using ConstPtr = std::shared_ptr< const CHeightGridMap2D >
 
using UniquePtr = std::unique_ptr< CHeightGridMap2D >
 
using ConstUniquePtr = std::unique_ptr< const CHeightGridMap2D >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CHeightGridMap2D"
 
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( "CHeightGridMap2D,heightMap,dem" , & mrpt::maps::CHeightGridMap2D ::MapDefinition, & mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static CHeightGridMap2DCreateFromMapDefinition (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)
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 67 of file CHeightGridMap2D.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 67 of file CHeightGridMap2D.h.

◆ UniquePtr

Definition at line 67 of file CHeightGridMap2D.h.

Member Enumeration Documentation

◆ TMapRepresentation

The type of map representation to be used.

See mrpt::maps::CHeightGridMap2D for discussion.

Enumerator
mrSimpleAverage 

Definition at line 82 of file CHeightGridMap2D.h.

Constructor & Destructor Documentation

◆ CHeightGridMap2D()

CHeightGridMap2D::CHeightGridMap2D ( TMapRepresentation  mapType = mrSimpleAverage,
double  x_min = -2,
double  x_max = 2,
double  y_min = -2,
double  y_max = 2,
double  resolution = 0.1 
)

Constructor.

Definition at line 102 of file CHeightGridMap2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::_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.

◆ 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::CHeightGridMap2D::cell2float ( const THeightGridmapCell c) const
inlineoverride

Definition at line 74 of file CHeightGridMap2D.h.

◆ cell2float() [2/2]

virtual float mrpt::containers::CDynamicGrid< THeightGridmapCell >::cell2float ( const THeightGridmapCell &  ) 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]

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

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

Definition at line 222 of file CDynamicGrid.h.

Referenced by dem_get_z_by_cell(), and getAs3DObject().

◆ cellByIndex() [2/2]

const THeightGridmapCell * mrpt::containers::CDynamicGrid< THeightGridmapCell >::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]

THeightGridmapCell * mrpt::containers::CDynamicGrid< THeightGridmapCell >::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 dem_get_z(), and insertIndividualPoint().

◆ cellByPos() [2/2]

const THeightGridmapCell * mrpt::containers::CDynamicGrid< THeightGridmapCell >::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::CHeightGridMap2D::clear ( )
inline

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

Definition at line 73 of file CHeightGridMap2D.h.

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

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CHeightGridMap2D::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float CHeightGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
const TMatchingRatioParams params 
) const
overridevirtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 419 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM.

◆ 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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◆ countObservedCells()

size_t CHeightGridMap2D::countObservedCells ( ) const

Return the number of cells with at least one height data inserted.

Definition at line 366 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::m_map, m_mapType, mrSimpleAverage, and THROW_EXCEPTION.

◆ Create()

template<typename... Args>
static Ptr mrpt::maps::CHeightGridMap2D::Create ( Args &&...  args)
inlinestatic

Definition at line 67 of file CHeightGridMap2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::maps::CHeightGridMap2D::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 67 of file CHeightGridMap2D.h.

◆ CreateFromMapDefinition()

mrpt::maps::CHeightGridMap2D * mrpt::maps::CHeightGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 31 of file CHeightGridMap2D.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CHeightGridMap2D::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::maps::CHeightGridMap2D::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 67 of file CHeightGridMap2D.h.

◆ dem_get_resolution()

double CHeightGridMap2D::dem_get_resolution ( ) const
overridevirtual

◆ dem_get_size_x()

size_t CHeightGridMap2D::dem_get_size_x ( ) const
overridevirtual

◆ dem_get_size_y()

size_t CHeightGridMap2D::dem_get_size_y ( ) const
overridevirtual

◆ dem_get_z()

bool CHeightGridMap2D::dem_get_z ( const double  x,
const double  y,
double &  z_out 
) const
overridevirtual

Get cell 'z' (x,y) by metric coordinates.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 400 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::cellByPos(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

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◆ dem_get_z_by_cell()

bool CHeightGridMap2D::dem_get_z_by_cell ( const size_t  cx,
const size_t  cy,
double &  z_out 
) const
overridevirtual

Get cell 'z' by (cx,cy) cell indices.

Returns
false if out of bounds or un-observed cell.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 388 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::cellByIndex(), mrpt::maps::THeightGridmapCell::h, and mrpt::maps::THeightGridmapCell::w.

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◆ dem_internal_insertObservation()

bool CHeightGridMap2D_Base::dem_internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
inherited

Internal method called by internal_insertObservation()

Definition at line 127 of file CHeightGridMap2D_Base.cpp.

References mrpt::maps::CPointsMap::changeCoordinatesReference(), mrpt::maps::CPointsMap::empty(), mrpt::maps::CPointsMap::getPoint(), IS_CLASS, mrpt::maps::CPointsMap::loadFromVelodyneScan(), MRPT_END, MRPT_START, mrpt::maps::CPointsMap::size(), and mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams::update_map_after_insertion.

Referenced by internal_insertObservation().

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◆ dem_update_map()

void CHeightGridMap2D::dem_update_map ( )
overridevirtual

Ensure that all observations are reflected in the map estimate.

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 414 of file CHeightGridMap2D.cpp.

◆ 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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◆ 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 191 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< THeightGridmapCell >::dyngridcommon_readFromStream ( STREAM &  in,
bool  cast_from_float = false 
)
inlineprotectedinherited

Definition at line 342 of file CDynamicGrid.h.

Referenced by serializeFrom().

◆ dyngridcommon_writeToStream()

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

Definition at line 334 of file CDynamicGrid.h.

Referenced by serializeTo().

◆ fill()

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

Fills all the cells with the same value.

Definition at line 109 of file CDynamicGrid.h.

Referenced by internal_clear().

◆ getAs3DObject()

◆ getAsMatrix()

void mrpt::containers::CDynamicGrid< THeightGridmapCell >::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::CHeightGridMap2D::getClassName ( )
inlinestatic

Definition at line 67 of file CHeightGridMap2D.h.

◆ getMapType()

TMapRepresentation mrpt::maps::CHeightGridMap2D::getMapType ( )

Return the type of the gas distribution map, according to parameters passed on construction.

◆ getMinMaxHeight()

bool CHeightGridMap2D_Base::getMinMaxHeight ( float &  z_min,
float &  z_max 
) const
inherited

Computes the minimum and maximum height in the grid.

Returns
False if there is no observed cell yet.

Definition at line 27 of file CHeightGridMap2D_Base.cpp.

References mrpt::keep_max(), and mrpt::keep_min().

Referenced by getAs3DObject().

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◆ getResolution()

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

Returns the resolution of the grid map.

Definition at line 254 of file CDynamicGrid.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CHeightGridMap2D::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CHeightGridMap2D::GetRuntimeClassIdStatic ( )
static

◆ getSizeX()

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

Returns the horizontal size of grid map in cells count.

Definition at line 242 of file CDynamicGrid.h.

◆ getSizeY()

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

Returns the vertical size of grid map in cells count.

Definition at line 244 of file CDynamicGrid.h.

◆ getXMax()

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

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

Definition at line 248 of file CDynamicGrid.h.

◆ getXMin()

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

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

Definition at line 246 of file CDynamicGrid.h.

◆ getYMax()

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

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

Definition at line 252 of file CDynamicGrid.h.

◆ getYMin()

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

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

Definition at line 250 of file CDynamicGrid.h.

◆ 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< THeightGridmapCell >::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.

◆ idx2x()

double mrpt::containers::CDynamicGrid< THeightGridmapCell >::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 getAs3DObject().

◆ idx2y()

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

Definition at line 283 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ insertIndividualPoint()

bool CHeightGridMap2D::insertIndividualPoint ( const double  x,
const double  y,
const double  z,
const CHeightGridMap2D_Base::TPointInsertParams params = CHeightGridMap2D_Base::TPointInsertParams() 
)
overridevirtual

Update the DEM with one new point.

See also
mrpt::maps::CMetricMap::insertObservation() for inserting higher-level objects like 2D/3D LIDAR scans
Returns
true if updated OK, false if (x,y) is out of bounds

Implements mrpt::maps::CHeightGridMap2D_Base.

Definition at line 119 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::cellByPos(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::filterByHeight, mrpt::maps::THeightGridmapCell::h, insertionOptions, mrpt::maps::THeightGridmapCell::u, mrpt::maps::THeightGridmapCell::v, mrpt::maps::THeightGridmapCell::var, mrpt::maps::THeightGridmapCell::w, mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_max, and mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_min.

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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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◆ 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 CHeightGridMap2D::internal_clear ( )
overridevirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 114 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::fill().

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◆ internal_computeObservationLikelihood()

double CHeightGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
overridevirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 157 of file CHeightGridMap2D.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

bool CHeightGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
overridevirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 148 of file CHeightGridMap2D.cpp.

References mrpt::maps::CHeightGridMap2D_Base::dem_internal_insertObservation().

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◆ intersectLine3D()

bool CHeightGridMap2D_Base::intersectLine3D ( const mrpt::math::TLine3D r1,
mrpt::math::TObject3D obj 
) const
inherited

Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell)

Definition at line 56 of file CHeightGridMap2D_Base.cpp.

References mrpt::math::TObject3D::getPoint(), mrpt::math::intersect(), min, MRPT_END, MRPT_START, mrpt::math::TPoint3D::norm(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ isEmpty()

bool CHeightGridMap2D::isEmpty ( ) const
overridevirtual

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::maps::CMetricMap.

Definition at line 118 of file CHeightGridMap2D.cpp.

◆ 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::maps::CMetricMap::loadFromSimpleMap(), and run_test_pf_localization().

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◆ loadFromSimpleMap()

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

!

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

Definition at line 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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◆ m_map_castaway_const()

std::vector<THeightGridmapCell >& mrpt::containers::CDynamicGrid< THeightGridmapCell >::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.

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CHeightGridMap2D::MapDefinition ( )
static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 31 of file CHeightGridMap2D.cpp.

◆ 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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◆ resize()

virtual void mrpt::containers::CDynamicGrid< THeightGridmapCell >::resize ( double  new_x_min,
double  new_x_max,
double  new_y_min,
double  new_y_max,
const THeightGridmapCell &  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.

◆ saveMetricMapRepresentationToFile()

void CHeightGridMap2D::saveMetricMapRepresentationToFile ( const std::string filNamePrefix) const
overridevirtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::maps::CMetricMap.

Definition at line 280 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::saveToTextFile().

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◆ saveToTextFile()

bool mrpt::containers::CDynamicGrid< THeightGridmapCell >::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.

Referenced by saveMetricMapRepresentationToFile().

◆ serializeFrom() [1/2]

void CHeightGridMap2D::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 191 of file CHeightGridMap2D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid< THeightGridmapCell >::dyngridcommon_readFromStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::filterByHeight, mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::containers::CDynamicGrid< THeightGridmapCell >::m_map, m_mapType, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_max, and mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_min.

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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 CHeightGridMap2D::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 166 of file CHeightGridMap2D.cpp.

◆ serializeTo() [1/2]

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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◆ serializeTo() [2/2]

void CHeightGridMap2D::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 167 of file CHeightGridMap2D.cpp.

References mrpt::containers::CDynamicGrid< THeightGridmapCell >::dyngridcommon_writeToStream(), mrpt::maps::CHeightGridMap2D::TInsertionOptions::filterByHeight, mrpt::maps::CMetricMap::genericMapParams, insertionOptions, mrpt::containers::CDynamicGrid< THeightGridmapCell >::m_map, m_mapType, mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_max, and mrpt::maps::CHeightGridMap2D::TInsertionOptions::z_min.

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◆ setSize()

void mrpt::containers::CDynamicGrid< THeightGridmapCell >::setSize ( const double  x_min,
const double  x_max,
const double  y_min,
const double  y_max,
const double  resolution,
const THeightGridmapCell *  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.

◆ 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.

◆ 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< THeightGridmapCell >::x2idx ( double  x) const
inlineinherited

Transform a coordinate values into cell indexes.

Definition at line 256 of file CDynamicGrid.h.

◆ xy2idx()

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

Definition at line 264 of file CDynamicGrid.h.

◆ y2idx()

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

Definition at line 260 of file CDynamicGrid.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CHeightGridMap2D::className = "CHeightGridMap2D"
static

Definition at line 67 of file CHeightGridMap2D.h.

◆ genericMapParams

◆ insertionOptions

◆ m_map

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

The cells.

Definition at line 42 of file CDynamicGrid.h.

Referenced by countObservedCells(), serializeFrom(), and serializeTo().

◆ m_mapType

TMapRepresentation mrpt::maps::CHeightGridMap2D::m_mapType

The map representation type of this map.

Definition at line 154 of file CHeightGridMap2D.h.

Referenced by countObservedCells(), serializeFrom(), and serializeTo().

◆ m_private_map_register_id

const size_t mrpt::maps::CHeightGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CHeightGridMap2D,heightMap,dem" , & mrpt::maps::CHeightGridMap2D ::MapDefinition, & mrpt::maps::CHeightGridMap2D ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 173 of file CHeightGridMap2D.h.

◆ m_resolution

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

Definition at line 50 of file CDynamicGrid.h.

Referenced by dem_get_resolution().

◆ m_size_x

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

Definition at line 51 of file CDynamicGrid.h.

Referenced by dem_get_size_x(), and getAs3DObject().

◆ m_size_y

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

Definition at line 51 of file CDynamicGrid.h.

Referenced by dem_get_size_y(), and getAs3DObject().

◆ m_x_max

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

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_x_min

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

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_y_max

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

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ m_y_min

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

Definition at line 50 of file CDynamicGrid.h.

Referenced by getAs3DObject().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CHeightGridMap2D::runtimeClassId
staticprotected

Definition at line 67 of file CHeightGridMap2D.h.




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