MRPT  1.9.9
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mrpt::maps::COccupancyGridMap2D Class Reference

Detailed Description

A class for storing an occupancy grid map.

COccupancyGridMap2D is a class for storing a metric map representation in the form of a probabilistic occupancy grid map: value of 0 means certainly occupied, 1 means a certainly empty cell. Initially 0.5 means uncertainty.

The cells keep the log-odd representation of probabilities instead of the probabilities themselves. More details can be found at https://www.mrpt.org/Occupancy_Grids

The algorithm for updating the grid from a laser scanner can optionally take into account the progressive widening of the beams, as described in this page

Some implemented methods are:

Definition at line 53 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D:

Classes

struct  TCriticalPointsList
 The structure used to store the set of Voronoi diagram critical points. More...
 
struct  TEntropyInfo
 Used for returning entropy related information. More...
 
class  TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
struct  TLaserSimulUncertaintyParams
 Input params for laserScanSimulatorWithUncertainty() More...
 
struct  TLaserSimulUncertaintyResult
 Output params for laserScanSimulatorWithUncertainty() More...
 
class  TLikelihoodOptions
 With this struct options are provided to the observation likelihood computation process. More...
 
class  TLikelihoodOutput
 Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...
 
struct  TMapDefinition
 
struct  TMapDefinitionBase
 
struct  TUpdateCellsInfoChangeOnly
 An internal structure for storing data related to counting the new information apported by some observation. More...
 

Public Types

enum  TLikelihoodMethod {
  lmMeanInformation = 0, lmRayTracing, lmConsensus, lmCellsDifference,
  lmLikelihoodField_Thrun, lmLikelihoodField_II, lmConsensusOWA
}
 The type for selecting a likelihood computation method. More...
 
using cellType = OccGridCellTraits::cellType
 The type of the map cells: More...
 
using cellTypeUnsigned = OccGridCellTraits::cellTypeUnsigned
 
using TPairLikelihoodIndex = std::pair< double, mrpt::math::TPoint2D >
 Auxiliary private class. More...
 
using cell_t = OccGridCellTraits::cellType
 The type of cells. More...
 
using traits_t = detail::logoddscell_traits< OccGridCellTraits::cellType >
 

Public Member Functions

const std::vector< cellType > & getRawMap () const
 Read-only access to the raw cell contents (cells are in log-odd units) More...
 
void updateCell (int x, int y, float v)
 Performs the Bayesian fusion of a new observation of a cell. More...
 
void fill (float default_value=0.5f)
 Fills all the cells with a default value. More...
 
 COccupancyGridMap2D (float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f)
 Constructor. More...
 
void setSize (float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f)
 Change the size of gridmap, erasing all its previous contents. More...
 
void resizeGrid (float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) noexcept
 Change the size of gridmap, maintaining previous contents. More...
 
double getArea () const
 Returns the area of the gridmap, in square meters. More...
 
unsigned int getSizeX () const
 Returns the horizontal size of grid map in cells count. More...
 
unsigned int getSizeY () const
 Returns the vertical size of grid map in cells count. More...
 
float getXMin () const
 Returns the "x" coordinate of left side of grid map. More...
 
float getXMax () const
 Returns the "x" coordinate of right side of grid map. More...
 
float getYMin () const
 Returns the "y" coordinate of top side of grid map. More...
 
float getYMax () const
 Returns the "y" coordinate of bottom side of grid map. More...
 
float getResolution () const
 Returns the resolution of the grid map. More...
 
int x2idx (float x) const
 Transform a coordinate value into a cell index. More...
 
int y2idx (float y) const
 
int x2idx (double x) const
 
int y2idx (double y) const
 
float idx2x (const size_t cx) const
 Transform a cell index into a coordinate value. More...
 
float idx2y (const size_t cy) const
 
int x2idx (float x, float xmin) const
 Transform a coordinate value into a cell index, using a diferent "x_min" value. More...
 
int y2idx (float y, float ymin) const
 
void setCell (int x, int y, float value)
 Change the contents [0,1] of a cell, given its index. More...
 
float getCell (int x, int y) const
 Read the real valued [0,1] contents of a cell, given its index. More...
 
cellTypegetRow (int cy)
 Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. More...
 
const cellTypegetRow (int cy) const
 Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally. More...
 
void setPos (float x, float y, float value)
 Change the contents [0,1] of a cell, given its coordinates. More...
 
float getPos (float x, float y) const
 Read the real valued [0,1] contents of a cell, given its coordinates. More...
 
bool isStaticPos (float x, float y, float threshold=0.7f) const
 Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold. More...
 
bool isStaticCell (int cx, int cy, float threshold=0.7f) const
 
void setBasisCell (int x, int y, uint8_t value)
 Change a cell in the "basis" maps.Used for Voronoi calculation. More...
 
unsigned char getBasisCell (int x, int y) const
 Reads a cell in the "basis" maps.Used for Voronoi calculation. More...
 
void copyMapContentFrom (const COccupancyGridMap2D &otherMap)
 copy the gridmap contents, but not all the options, from another map instance More...
 
void subSample (int downRatio)
 Performs a downsampling of the gridmap, by a given factor: resolution/=ratio. More...
 
void computeEntropy (TEntropyInfo &info) const
 Computes the entropy and related values of this grid map. More...
 
int computeClearance (int cx, int cy, int *basis_x, int *basis_y, int *nBasis, bool GetContourPoint=false) const
 Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points. More...
 
float computeClearance (float x, float y, float maxSearchDistance) const
 An alternative method for computing the clearance of a given location (in meters). More...
 
float computePathCost (float x1, float y1, float x2, float y2) const
 Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells. More...
 
double computeLikelihoodField_Thrun (const CPointsMap *pm, const mrpt::poses::CPose2D *relativePose=nullptr)
 Computes the likelihood [0,1] of a set of points, given the current grid map as reference. More...
 
double computeLikelihoodField_II (const CPointsMap *pm, const mrpt::poses::CPose2D *relativePose=nullptr)
 Computes the likelihood [0,1] of a set of points, given the current grid map as reference. More...
 
bool saveAsBitmapFile (const std::string &file) const
 Saves the gridmap as a graphical file (BMP,PNG,...). More...
 
template<class CLANDMARKSMAP >
bool saveAsBitmapFileWithLandmarks (const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::img::TColor &marks_color=mrpt::img::TColor(0, 0, 255)) const
 Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks. More...
 
void getAsImage (mrpt::img::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const
 Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. More...
 
void getAsImageFiltered (img::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
 Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively. More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
 Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e. More...
 
void getAsPointCloud (mrpt::maps::CSimplePointsMap &pm, const float occup_threshold=0.5f) const
 Get a point cloud with all (border) occupied cells as points. More...
 
bool isEmpty () const override
 Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map. More...
 
bool loadFromBitmapFile (const std::string &file, float resolution, const mrpt::math::TPoint2D &origin=mrpt::math::TPoint2D(std::numeric_limits< double >::max(), std::numeric_limits< double >::max()))
 Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). More...
 
bool loadFromBitmap (const mrpt::img::CImage &img, float resolution, const mrpt::math::TPoint2D &origin=mrpt::math::TPoint2D(std::numeric_limits< double >::max(), std::numeric_limits< double >::max()))
 Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile). More...
 
void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
 See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied 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
 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 clear ()
 Erase all the contents of the map. 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 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...
 
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 float l2p (const cellType l)
 Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l)) More...
 
static uint8_t l2p_255 (const cellType l)
 Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l)) More...
 
static cellType p2l (const float p)
 Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType. More...
 
static bool saveAsBitmapTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const mrpt::tfest::TMatchingPairList &corrs)
 Saves a composite image with two gridmaps and lines representing a set of correspondences between them. More...
 
static bool saveAsEMFTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const mrpt::tfest::TMatchingPairList &corrs)
 Saves a composite image with two gridmaps and numbers for the correspondences between them. More...
 
static void updateCell_fast_occupied (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...
 
static void updateCell_fast_occupied (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...
 
static void updateCell_fast_free (const unsigned x, const unsigned y, const cell_t logodd_obs, const cell_t thres, cell_t *mapArray, const unsigned _size_x)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...
 
static void updateCell_fast_free (cell_t *theCell, const cell_t logodd_obs, const cell_t thres)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly. More...
 

Public Attributes

struct mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly updateInfoChangeOnly
 
TInsertionOptions insertionOptions
 With this struct options are provided to the observation insertion process. More...
 
mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions likelihoodOptions
 
class mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput likelihoodOutputs
 
struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList CriticalPointsList
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Static Public Attributes

static constexpr cellType OCCGRID_CELLTYPE_MIN
 Discrete to float conversion factors: The min/max values of the integer cell type, eg. More...
 
static constexpr cellType OCCGRID_CELLTYPE_MAX
 
static double RAYTRACE_STEP_SIZE_IN_CELL_UNITS = 0.8
 (Default:1.0) Can be set to <1 if a more fine raytracing is needed in sonarSimulator() and laserScanSimulator(), or >1 to speed it up. More...
 

Protected Member Functions

void freeMap ()
 Frees the dynamic memory buffers of map. More...
 
void OnPostSuccesfulInsertObs (const mrpt::obs::CObservation &) override
 See base class. More...
 
void setCell_nocheck (int x, int y, float value)
 Change the contents [0,1] of a cell, given its index. More...
 
float getCell_nocheck (int x, int y) const
 Read the real valued [0,1] contents of a cell, given its index. More...
 
void setRawCell (unsigned int cellIndex, cellType b)
 Changes a cell by its absolute index (Do not use it normally) More...
 
double computeObservationLikelihood_Consensus (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.) More...
 
double computeObservationLikelihood_ConsensusOWA (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
double computeObservationLikelihood_CellsDifference (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
double computeObservationLikelihood_MI (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
double computeObservationLikelihood_rayTracing (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
double computeObservationLikelihood_likelihoodField_Thrun (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
double computeObservationLikelihood_likelihoodField_II (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood". More...
 
void internal_clear () override
 Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values). More...
 
bool internal_insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
 Insert the observation information into this map. 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...
 
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...
 

Static Protected Member Functions

static CLogOddsGridMapLUT< cellType > & get_logodd_lut ()
 Lookup tables for log-odds. More...
 
static double H (double p)
 Entropy computation internal function: More...
 

Protected Attributes

std::vector< cellTypemap
 Store of cell occupancy values. More...
 
uint32_t size_x {0}
 The size of the grid in cells. More...
 
uint32_t size_y {0}
 
float x_min {}
 The limits of the grid in "units" (meters) More...
 
float x_max {}
 
float y_min {}
 
float y_max {}
 
float resolution {}
 Cell size, i.e. More...
 
std::vector< double > precomputedLikelihood
 Auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache). More...
 
bool m_likelihoodCacheOutDated {true}
 
mrpt::containers::CDynamicGrid< uint8_t > m_basis_map
 Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point. More...
 
mrpt::containers::CDynamicGrid< uint16_t > m_voronoi_diagram
 Used to store the Voronoi diagram. More...
 
bool m_is_empty {true}
 True upon construction; used by isEmpty() More...
 
float voroni_free_threshold {}
 The free-cells threshold used to compute the Voronoi diagram. More...
 

Static Protected Attributes

static std::vector< float > entropyTable
 Internally used to speed-up entropy calculation. More...
 

Private Member Functions

double internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
 Internal method called by computeObservationLikelihood() More...
 
bool internal_canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const override
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
unsigned char GetNeighborhood (int cx, int cy) const
 Returns a byte with the occupancy of the 8 sorrounding cells. More...
 
int direction2idx (int dx, int dy)
 Returns the index [0,7] of the given movement, or -1 if invalid one. More...
 

Private Attributes

int direccion_vecino_x [8]
 Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor. More...
 
int direccion_vecino_y [8]
 

Friends

class CMultiMetricMap
 
class CMultiMetricMapPDF
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::maps ::COccupancyGridMap2D >
 
using ConstPtr = std::shared_ptr< const mrpt::maps ::COccupancyGridMap2D >
 
using UniquePtr = std::unique_ptr< mrpt::maps ::COccupancyGridMap2D >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::maps ::COccupancyGridMap2D >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::maps" "::" "COccupancyGridMap2D"
 
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...
 

Voronoi methods

void buildVoronoiDiagram (float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0)
 Build the Voronoi diagram of the grid map. More...
 
uint16_t getVoroniClearance (int cx, int cy) const
 Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram. More...
 
const mrpt::containers::CDynamicGrid< uint8_t > & getBasisMap () const
 Return the auxiliary "basis" map built while building the Voronoi diagram. More...
 
const mrpt::containers::CDynamicGrid< uint16_t > & getVoronoiDiagram () const
 Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram. More...
 
void findCriticalPoints (float filter_distance)
 Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method. More...
 
void setVoroniClearance (int cx, int cy, uint16_t dist)
 Used to set the clearance of a cell, while building the Voronoi diagram. More...
 

Sensor simulators

enum  TLaserSimulUncertaintyMethod { sumUnscented = 0, sumMonteCarlo }
 Methods for TLaserSimulUncertaintyParams in laserScanSimulatorWithUncertainty() More...
 
void laserScanSimulator (mrpt::obs::CObservation2DRangeScan &inout_Scan, const mrpt::poses::CPose2D &robotPose, float threshold=0.6f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=mrpt::DEG2RAD(.0)) const
 Simulates a laser range scan into the current grid map. More...
 
void sonarSimulator (mrpt::obs::CObservationRange &inout_observation, const mrpt::poses::CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0.f, float angleNoiseStd=mrpt::DEG2RAD(0.f)) const
 Simulates the observations of a sonar rig into the current grid map. More...
 
void simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const double max_range_meters, const float threshold_free=0.4f, const double noiseStd=.0, const double angleNoiseStd=.0) const
 Simulate just one "ray" in the grid map. More...
 
void laserScanSimulatorWithUncertainty (const TLaserSimulUncertaintyParams &in_params, TLaserSimulUncertaintyResult &out_results) const
 Like laserScanSimulatorWithUncertainty() (see it for a discussion of most parameters) but taking into account the robot pose uncertainty and generating a vector of predicted variances for each ray. 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::COccupancyGridMap2D,occupancyGrid" , & mrpt::maps::COccupancyGridMap2D ::MapDefinition, & mrpt::maps::COccupancyGridMap2D ::internal_CreateFromMapDefinition)
 ID used to initialize class registration (just ignore it) More...
 
static mrpt::maps::TMetricMapInitializerMapDefinition ()
 Returns default map definition initializer. More...
 
static COccupancyGridMap2DCreateFromMapDefinition (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

◆ cell_t

The type of cells.

Definition at line 29 of file CLogOddsGridMap2D.h.

◆ cellType

The type of the map cells:

Definition at line 60 of file COccupancyGridMap2D.h.

◆ cellTypeUnsigned

Definition at line 61 of file COccupancyGridMap2D.h.

◆ ConstPtr

Definition at line 57 of file COccupancyGridMap2D.h.

◆ ConstUniquePtr

using mrpt::maps::COccupancyGridMap2D::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: COccupancyGridMap2D >

Definition at line 57 of file COccupancyGridMap2D.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 57 of file COccupancyGridMap2D.h.

◆ TPairLikelihoodIndex

Auxiliary private class.

Definition at line 621 of file COccupancyGridMap2D.h.

◆ traits_t

Definition at line 30 of file CLogOddsGridMap2D.h.

◆ UniquePtr

using mrpt::maps::COccupancyGridMap2D::UniquePtr = std::unique_ptr< mrpt::maps :: COccupancyGridMap2D >

Definition at line 57 of file COccupancyGridMap2D.h.

Member Enumeration Documentation

◆ TLaserSimulUncertaintyMethod

Methods for TLaserSimulUncertaintyParams in laserScanSimulatorWithUncertainty()

Enumerator
sumUnscented 

Performs an unscented transform.

sumMonteCarlo 

Montecarlo-based estimation.

Definition at line 824 of file COccupancyGridMap2D.h.

◆ TLikelihoodMethod

The type for selecting a likelihood computation method.

Enumerator
lmMeanInformation 
lmRayTracing 
lmConsensus 
lmCellsDifference 
lmLikelihoodField_Thrun 
lmLikelihoodField_II 
lmConsensusOWA 

Definition at line 526 of file COccupancyGridMap2D.h.

Constructor & Destructor Documentation

◆ COccupancyGridMap2D()

COccupancyGridMap2D::COccupancyGridMap2D ( float  min_x = -20.0f,
float  max_x = 20.0f,
float  min_y = -20.0f,
float  max_y = 20.0f,
float  resolution = 0.05f 
)

Constructor.

Definition at line 101 of file COccupancyGridMap2D_common.cpp.

References MRPT_END, MRPT_START, and setSize().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::COccupancyGridMap2D::_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.

◆ buildVoronoiDiagram()

void COccupancyGridMap2D::buildVoronoiDiagram ( float  threshold,
float  robot_size,
int  x1 = 0,
int  x2 = 0,
int  y1 = 0,
int  y2 = 0 
)

Build the Voronoi diagram of the grid map.

Parameters
thresholdThe threshold for binarizing the map.
robot_sizeSize in "units" (meters) of robot, approx.
x1Left coordinate of area to be computed. Default, entire map.
x2Right coordinate of area to be computed. Default, entire map.
y1Top coordinate of area to be computed. Default, entire map.
y2Bottom coordinate of area to be computed. Default, entire map.
See also
findCriticalPoints

Definition at line 24 of file COccupancyGridMap2D_voronoi.cpp.

References ASSERT_EQUAL_, and mrpt::round().

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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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◆ clear()

void CMetricMap::clear ( )
inherited

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::COccupancyGridMap2D::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float COccupancyGridMap2D::compute3DMatchingRatio ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
const TMatchingRatioParams params 
) const
overridevirtual

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

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 778 of file COccupancyGridMap2D_common.cpp.

References MRPT_UNUSED_PARAM.

◆ computeClearance() [1/2]

int COccupancyGridMap2D::computeClearance ( int  cx,
int  cy,
int *  basis_x,
int *  basis_y,
int *  nBasis,
bool  GetContourPoint = false 
) const

Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.

Returns
The clearance of the cell, in 1/100 of "cell".
Parameters
cxThe cell index
cyThe cell index
basis_xTarget buffer for coordinates of basis, having a size of two "ints".
basis_yTarget buffer for coordinates of basis, having a size of two "ints".
nBasisThe number of found basis: Can be 0,1 or 2.
GetContourPointIf "true" the basis are not returned, but the closest free cells.Default at false.
See also
Build_VoronoiDiagram

Definition at line 255 of file COccupancyGridMap2D_voronoi.cpp.

References dir, M_2PI, M_PI, M_PIf, N_CIRCULOS, and mrpt::round().

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◆ computeClearance() [2/2]

float COccupancyGridMap2D::computeClearance ( float  x,
float  y,
float  maxSearchDistance 
) const

An alternative method for computing the clearance of a given location (in meters).

Returns
The clearance (distance to closest OCCUPIED cell), in meters.

Definition at line 561 of file COccupancyGridMap2D_voronoi.cpp.

References mrpt::square().

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◆ computeEntropy()

void COccupancyGridMap2D::computeEntropy ( TEntropyInfo info) const

Computes the entropy and related values of this grid map.

The entropy is computed as the summed entropy of each cell, taking them as discrete random variables following a Bernoulli distribution:

Parameters
infoThe output information is returned here

Definition at line 352 of file COccupancyGridMap2D_common.cpp.

References mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedCells, entropyTable, H(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::I, l2p(), map, MAX_H, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_H, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_I, and resolution.

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

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◆ computeLikelihoodField_II()

double COccupancyGridMap2D::computeLikelihoodField_II ( const CPointsMap pm,
const mrpt::poses::CPose2D relativePose = nullptr 
)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters
pmThe points map
relativePoseThe relative pose of the points map in this map's coordinates, or nullptr for (0,0,0). See "likelihoodOptions" for configuration parameters.

Definition at line 712 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::CPointsMap::getPoint(), MRPT_END, MRPT_START, mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ computeLikelihoodField_Thrun()

double COccupancyGridMap2D::computeLikelihoodField_Thrun ( const CPointsMap pm,
const mrpt::poses::CPose2D relativePose = nullptr 
)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters
pmThe points map
relativePoseThe relative pose of the points map in this map's coordinates, or nullptr for (0,0,0). See "likelihoodOptions" for configuration parameters.

Definition at line 517 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::CPointsMap::getPoint(), mrpt::keep_min(), LIK_LF_CACHE_INVALID, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::round(), mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::math::TPoint2D_data::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint2D_data::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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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.

◆ computeObservationLikelihood_CellsDifference()

double COccupancyGridMap2D::computeObservationLikelihood_CellsDifference ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 241 of file COccupancyGridMap2D_likelihood.cpp.

References IS_CLASS, mrpt::round(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ computeObservationLikelihood_Consensus()

double COccupancyGridMap2D::computeObservationLikelihood_Consensus ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)

Definition at line 85 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::poses::CPose2D::composePoint(), IS_CLASS, mrpt::math::internal::ProvideStaticResize< Derived >::size(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ computeObservationLikelihood_ConsensusOWA()

double COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

TODO: This method is described in....

Definition at line 144 of file COccupancyGridMap2D_likelihood.cpp.

References ASSERT_, mrpt::poses::CPose2D::composePoint(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, mrpt::math::internal::ProvideStaticResize< Derived >::size(), mrpt::math::TPoint2D_data::x, and mrpt::math::TPoint2D_data::y.

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◆ computeObservationLikelihood_likelihoodField_II()

double COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 480 of file COccupancyGridMap2D_likelihood.cpp.

References IS_CLASS, MRPT_END, and MRPT_START.

◆ computeObservationLikelihood_likelihoodField_Thrun()

double COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 426 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::CPointsMap::TInsertionOptions::horizontalTolerance, mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::CMetricMap::insertObservation(), IS_CLASS, mrpt::maps::CPointsMap::TInsertionOptions::isPlanarMap, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, MRPT_END, and MRPT_START.

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◆ computeObservationLikelihood_MI()

double COccupancyGridMap2D::computeObservationLikelihood_MI ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 308 of file COccupancyGridMap2D_likelihood.cpp.

References MRPT_END, and MRPT_START.

◆ computeObservationLikelihood_rayTracing()

double COccupancyGridMap2D::computeObservationLikelihood_rayTracing ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose2D takenFrom 
)
protected

One of the methods that can be selected for implementing "computeObservationLikelihood".

Definition at line 352 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::getScanSize(), IS_CLASS, mrpt::obs::CObservation2DRangeScan::maxRange, mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::sensorPose, and mrpt::square().

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◆ 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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◆ computePathCost()

float COccupancyGridMap2D::computePathCost ( float  x1,
float  y1,
float  x2,
float  y2 
) const

Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.

Returns
This returns '1-mean(traversed cells occupancy)', i.e. 0.5 for unknown cells, 1 for a free path.

Definition at line 757 of file COccupancyGridMap2D_common.cpp.

References getPos(), resolution, mrpt::round(), and mrpt::square().

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◆ copyMapContentFrom()

void COccupancyGridMap2D::copyMapContentFrom ( const COccupancyGridMap2D otherMap)

copy the gridmap contents, but not all the options, from another map instance

Definition at line 121 of file COccupancyGridMap2D_common.cpp.

References mrpt::containers::CDynamicGrid< T >::clear(), freeMap(), m_basis_map, m_is_empty, m_likelihoodCacheOutDated, m_voronoi_diagram, map, resolution, size_x, size_y, x_max, x_min, y_max, and y_min.

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◆ Create()

template<typename... Args>
static Ptr mrpt::maps::COccupancyGridMap2D::Create ( Args &&...  args)
inlinestatic

Definition at line 57 of file COccupancyGridMap2D.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getMap(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), and CGraphSlamHandler< GRAPH_T >::saveMap().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::maps::COccupancyGridMap2D::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 57 of file COccupancyGridMap2D.h.

◆ CreateFromMapDefinition()

mrpt::maps::COccupancyGridMap2D * mrpt::maps::COccupancyGridMap2D::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

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

Definition at line 32 of file COccupancyGridMap2D_common.cpp.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::COccupancyGridMap2D::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::maps::COccupancyGridMap2D::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 57 of file COccupancyGridMap2D.h.

◆ determineMatching2D()

void COccupancyGridMap2D::determineMatching2D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose2D otherMapPose,
mrpt::tfest::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
overridevirtual

See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.

NOTICE: That the "z" dimension is ignored in the points. Clip the points as appropiated if needed before calling this method.

See also
computeMatching3DWith

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 534 of file COccupancyGridMap2D_common.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_BELOW_, mrpt::poses::CPose2D::asTPose(), CLASS_ID, mrpt::rtti::TRuntimeClassId::derivedFrom(), mrpt::maps::CMetricMap::GetRuntimeClass(), idx2x(), idx2y(), map, MRPT_END, MRPT_START, mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::tfest::TMatchingPair::other_z, p2l(), mrpt::math::TPose2D::phi, resolution, mrpt::round(), mrpt::math::internal::ProvideStaticResize< Derived >::size(), size_x, size_y, mrpt::square(), mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::tfest::TMatchingPair::this_z, mrpt::math::TPose2D::x, x2idx(), x_max, mrpt::math::TPose2D::y, y2idx(), y_max, and y_min.

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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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◆ direction2idx()

int COccupancyGridMap2D::direction2idx ( int  dx,
int  dy 
)
private

Returns the index [0,7] of the given movement, or -1 if invalid one.

See also
direccion_vecino_x,direccion_vecino_y,GetNeighborhood

Definition at line 515 of file COccupancyGridMap2D_voronoi.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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◆ fill()

void COccupancyGridMap2D::fill ( float  default_value = 0.5f)

Fills all the cells with a default value.

Definition at line 444 of file COccupancyGridMap2D_common.cpp.

References m_likelihoodCacheOutDated, map, and p2l().

Referenced by run_rnav_test().

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◆ findCriticalPoints()

void COccupancyGridMap2D::findCriticalPoints ( float  filter_distance)

Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.

Parameters
filter_distanceThe minimum distance between two critical points.
See also
buildVoronoiDiagram

Definition at line 97 of file COccupancyGridMap2D_voronoi.cpp.

References ASSERT_EQUAL_, mrpt::containers::clear(), and mrpt::round().

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◆ freeMap()

void COccupancyGridMap2D::freeMap ( )
protected

Frees the dynamic memory buffers of map.

Definition at line 318 of file COccupancyGridMap2D_common.cpp.

References mrpt::containers::CDynamicGrid< T >::clear(), m_basis_map, m_is_empty, m_likelihoodCacheOutDated, m_voronoi_diagram, map, MRPT_END, MRPT_START, size_x, and size_y.

Referenced by copyMapContentFrom(), and setSize().

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◆ get_logodd_lut()

CLogOddsGridMapLUT< COccupancyGridMap2D::cellType > & COccupancyGridMap2D::get_logodd_lut ( )
staticprotected

Lookup tables for log-odds.

Definition at line 93 of file COccupancyGridMap2D_common.cpp.

References logodd_lut.

Referenced by l2p(), l2p_255(), and p2l().

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◆ getArea()

double mrpt::maps::COccupancyGridMap2D::getArea ( ) const
inline

Returns the area of the gridmap, in square meters.

Definition at line 261 of file COccupancyGridMap2D.h.

References resolution, size_x, size_y, and mrpt::square().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch().

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◆ getAs3DObject()

void COccupancyGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr outObj) const
overridevirtual

Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.

a value of 0.5 is fully transparent)

Implements mrpt::maps::CMetricMap.

Definition at line 148 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::img::CH_GRAY, MRPT_END, and MRPT_START.

◆ getAsImage()

void COccupancyGridMap2D::getAsImage ( mrpt::img::CImage img,
bool  verticalFlip = false,
bool  forceRGB = false,
bool  tricolor = false 
) const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also
getAsImageFiltered

Definition at line 29 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::img::CH_GRAY, and mrpt::img::CH_RGB.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), saveAsBitmapTwoMapsWithCorrespondences(), saveAsEMFTwoMapsWithCorrespondences(), and mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage().

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◆ getAsImageFiltered()

void COccupancyGridMap2D::getAsImageFiltered ( img::CImage &  img,
bool  verticalFlip = false,
bool  forceRGB = false 
) const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also
getAsImage

Definition at line 132 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::round().

Referenced by saveAsBitmapFileWithLandmarks(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

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◆ getAsPointCloud()

void COccupancyGridMap2D::getAsPointCloud ( mrpt::maps::CSimplePointsMap pm,
const float  occup_threshold = 0.5f 
) const

Get a point cloud with all (border) occupied cells as points.

Definition at line 189 of file COccupancyGridMap2D_getAs.cpp.

References mrpt::maps::CMetricMap::clear(), mrpt::maps::CPointsMap::insertPoint(), and mrpt::maps::CSimplePointsMap::reserve().

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◆ 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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◆ getBasisCell()

unsigned char mrpt::maps::COccupancyGridMap2D::getBasisCell ( int  x,
int  y 
) const
inline

Reads a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 417 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), and m_basis_map.

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◆ getBasisMap()

const mrpt::containers::CDynamicGrid<uint8_t>& mrpt::maps::COccupancyGridMap2D::getBasisMap ( ) const
inline

Return the auxiliary "basis" map built while building the Voronoi diagram.

See also
buildVoronoiDiagram

Definition at line 696 of file COccupancyGridMap2D.h.

References m_basis_map.

◆ getCell()

float mrpt::maps::COccupancyGridMap2D::getCell ( int  x,
int  y 
) const
inline

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 350 of file COccupancyGridMap2D.h.

References l2p(), map, size_x, and size_y.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), getPos(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), isStaticCell(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), subSample(), and TEST().

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◆ getCell_nocheck()

float mrpt::maps::COccupancyGridMap2D::getCell_nocheck ( int  x,
int  y 
) const
inlineprotected

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 129 of file COccupancyGridMap2D.h.

References l2p(), map, and size_x.

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◆ getClassName()

static constexpr auto mrpt::maps::COccupancyGridMap2D::getClassName ( )
inlinestatic

Definition at line 57 of file COccupancyGridMap2D.h.

◆ GetNeighborhood()

unsigned char COccupancyGridMap2D::GetNeighborhood ( int  cx,
int  cy 
) const
inlineprivate

Returns a byte with the occupancy of the 8 sorrounding cells.

Parameters
cxThe cell index
cyThe cell index
See also
direction2idx

Definition at line 493 of file COccupancyGridMap2D_voronoi.cpp.

◆ getPos()

float mrpt::maps::COccupancyGridMap2D::getPos ( float  x,
float  y 
) const
inline

Read the real valued [0,1] contents of a cell, given its coordinates.

Definition at line 387 of file COccupancyGridMap2D.h.

References getCell(), x2idx(), and y2idx().

Referenced by computePathCost(), and TEST().

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◆ getRawMap()

const std::vector<cellType>& mrpt::maps::COccupancyGridMap2D::getRawMap ( ) const
inline

Read-only access to the raw cell contents (cells are in log-odd units)

Definition at line 199 of file COccupancyGridMap2D.h.

References map.

◆ getResolution()

float mrpt::maps::COccupancyGridMap2D::getResolution ( ) const
inline

Returns the resolution of the grid map.

Definition at line 279 of file COccupancyGridMap2D.h.

References resolution.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), internal_clear(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::maps::CMultiMetricMapPDF::rebuildAverageMap(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), TEST(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

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◆ getRow() [1/2]

cellType* mrpt::maps::COccupancyGridMap2D::getRow ( int  cy)
inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 362 of file COccupancyGridMap2D.h.

References map, size_x, and size_y.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), and mrpt::ros1bridge::fromROS().

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◆ getRow() [2/2]

const cellType* mrpt::maps::COccupancyGridMap2D::getRow ( int  cy) const
inline

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 372 of file COccupancyGridMap2D.h.

References map, size_x, and size_y.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::COccupancyGridMap2D::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::COccupancyGridMap2D::GetRuntimeClassIdStatic ( )
static

◆ getSizeX()

unsigned int mrpt::maps::COccupancyGridMap2D::getSizeX ( ) const
inline

Returns the horizontal size of grid map in cells count.

Definition at line 267 of file COccupancyGridMap2D.h.

References size_x.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and TEST().

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◆ getSizeY()

unsigned int mrpt::maps::COccupancyGridMap2D::getSizeY ( ) const
inline

Returns the vertical size of grid map in cells count.

Definition at line 269 of file COccupancyGridMap2D.h.

References size_y.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::exist_relation_between2cells(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and TEST().

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◆ getVoroniClearance()

uint16_t mrpt::maps::COccupancyGridMap2D::getVoroniClearance ( int  cx,
int  cy 
) const
inline

Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.

Definition at line 666 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), and m_voronoi_diagram.

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◆ getVoronoiDiagram()

const mrpt::containers::CDynamicGrid<uint16_t>& mrpt::maps::COccupancyGridMap2D::getVoronoiDiagram ( ) const
inline

Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.

See also
buildVoronoiDiagram

Definition at line 704 of file COccupancyGridMap2D.h.

References m_voronoi_diagram.

◆ getXMax()

float mrpt::maps::COccupancyGridMap2D::getXMax ( ) const
inline

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

Definition at line 273 of file COccupancyGridMap2D.h.

References x_max.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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◆ getXMin()

float mrpt::maps::COccupancyGridMap2D::getXMin ( ) const
inline

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

Definition at line 271 of file COccupancyGridMap2D.h.

References x_min.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::maps::CMultiMetricMapPDF::rebuildAverageMap(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

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◆ getYMax()

float mrpt::maps::COccupancyGridMap2D::getYMax ( ) const
inline

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

Definition at line 277 of file COccupancyGridMap2D.h.

References y_max.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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◆ getYMin()

float mrpt::maps::COccupancyGridMap2D::getYMin ( ) const
inline

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

Definition at line 275 of file COccupancyGridMap2D.h.

References y_min.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), and mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

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◆ H()

double COccupancyGridMap2D::H ( double  p)
staticprotected

Entropy computation internal function:

Definition at line 422 of file COccupancyGridMap2D_common.cpp.

Referenced by computeEntropy(), and updateCell().

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◆ 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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◆ idx2x()

float mrpt::maps::COccupancyGridMap2D::idx2x ( const size_t  cx) const
inline

Transform a cell index into a coordinate value.

Definition at line 300 of file COccupancyGridMap2D.h.

References resolution, and x_min.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

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◆ idx2y()

float mrpt::maps::COccupancyGridMap2D::idx2y ( const size_t  cy) const
inline

Definition at line 304 of file COccupancyGridMap2D.h.

References resolution, and y_min.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), and mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace().

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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(), 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_canComputeObservationLikelihood()

bool COccupancyGridMap2D::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation obs) const
overrideprivatevirtual

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).

Parameters
obsThe observation.
See also
computeObservationLikelihood

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 958 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance, insertionOptions, IS_CLASS, mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude, and mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude.

◆ internal_clear()

void COccupancyGridMap2D::internal_clear ( )
overrideprotectedvirtual

Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).

Implements mrpt::maps::CMetricMap.

Definition at line 433 of file COccupancyGridMap2D_common.cpp.

References getResolution(), m_likelihoodCacheOutDated, and setSize().

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◆ internal_computeObservationLikelihood()

double COccupancyGridMap2D::internal_computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
overrideprivatevirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 32 of file COccupancyGridMap2D_likelihood.cpp.

References IS_CLASS.

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * COccupancyGridMap2D::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer def)
static

◆ internal_insertObservation()

bool COccupancyGridMap2D::internal_insertObservation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose = nullptr 
)
overrideprotectedvirtual

Insert the observation information into this map.

Parameters
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or nullptr (default) if you want to use CPose2D(0,0,deg)

After successfull execution, "lastObservationInsertionInfo" is updated.

See also
insertionOptions, CObservation::insertObservationInto

Implements mrpt::maps::CMetricMap.

Definition at line 43 of file COccupancyGridMap2D_insert.cpp.

References ASSERT_, TLocalPoint::cx, TLocalPoint::cy, FRBITS, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), IS_CLASS, mrpt::max3(), mrpt::min3(), mrpt_alloca, mrpt_alloca_free, MRPT_CHECK_NORMAL_NUMBER, mrpt::poses::CPose2D::phi(), R, mrpt::round(), TLocalPoint::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), TLocalPoint::y, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ isEmpty()

bool COccupancyGridMap2D::isEmpty ( ) const
overridevirtual

Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.

Implements mrpt::maps::CMetricMap.

Definition at line 743 of file COccupancyGridMap2D_common.cpp.

References m_is_empty.

◆ isStaticCell()

bool mrpt::maps::COccupancyGridMap2D::isStaticCell ( int  cx,
int  cy,
float  threshold = 0.7f 
) const
inline

Definition at line 398 of file COccupancyGridMap2D.h.

References getCell().

Referenced by isStaticPos().

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◆ isStaticPos()

bool mrpt::maps::COccupancyGridMap2D::isStaticPos ( float  x,
float  y,
float  threshold = 0.7f 
) const
inline

Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.

Definition at line 394 of file COccupancyGridMap2D.h.

References isStaticCell(), x2idx(), and y2idx().

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◆ l2p()

static float mrpt::maps::COccupancyGridMap2D::l2p ( const cellType  l)
inlinestatic

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 322 of file COccupancyGridMap2D.h.

References get_logodd_lut().

Referenced by computeEntropy(), getCell(), getCell_nocheck(), and updateCell().

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◆ l2p_255()

static uint8_t mrpt::maps::COccupancyGridMap2D::l2p_255 ( const cellType  l)
inlinestatic

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 328 of file COccupancyGridMap2D.h.

References get_logodd_lut().

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◆ laserScanSimulator()

void COccupancyGridMap2D::laserScanSimulator ( mrpt::obs::CObservation2DRangeScan inout_Scan,
const mrpt::poses::CPose2D robotPose,
float  threshold = 0.6f,
size_t  N = 361,
float  noiseStd = 0,
unsigned int  decimation = 1,
float  angleNoiseStd = mrpt::DEG2RAD(.0) 
) const

Simulates a laser range scan into the current grid map.

The simulated scan is stored in a CObservation2DRangeScan object, which is also used to pass some parameters: all previously stored characteristics (as aperture,...) are taken into account for simulation. Only a few more parameters are needed. Additive gaussian noise can be optionally added to the simulated scan.

Parameters
inout_Scan[IN/OUT] This must be filled with desired parameters before calling, and will contain the scan samples on return.
robotPose[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold[IN] The minimum occupancy threshold to consider a cell to be occupied (Default: 0.5f)
N[IN] The count of range scan "rays", by default to 361.
noiseStd[IN] The standard deviation of measurement noise. If not desired, set to 0.
decimation[IN] The rays that will be simulated are at indexes: 0, D, 2D, 3D, ... Default is D=1
angleNoiseStd[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).
See also
laserScanSimulatorWithUncertainty(), sonarSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 31 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, ASSERT_, mrpt::obs::CObservation2DRangeScan::maxRange, MRPT_END, MRPT_START, mrpt::poses::CPose2D::phi(), mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by run_rnav_test().

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◆ laserScanSimulatorWithUncertainty()

void COccupancyGridMap2D::laserScanSimulatorWithUncertainty ( const TLaserSimulUncertaintyParams in_params,
COccupancyGridMap2D::TLaserSimulUncertaintyResult out_results 
) const

Like laserScanSimulatorWithUncertainty() (see it for a discussion of most parameters) but taking into account the robot pose uncertainty and generating a vector of predicted variances for each ray.

Range uncertainty includes both, sensor noise and large non-linear effects caused by borders and discontinuities in the environment as seen from different robot poses.

Parameters
in_params[IN] Input settings. See TLaserSimulUncertaintyParams
in_params[OUT] Output range + uncertainty.
See also
laserScanSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 241 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::aperture, mrpt::math::CMatrixDynamic< T >::asEigen(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), mrpt::poses::CPosePDFGaussian::cov, func_laserSimul_callback(), TFunctorLaserSimulData::grid, mrpt::obs::CObservation2DRangeScan::maxRange, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::maxRange, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::MC_samples, mrpt::poses::CPosePDFGaussian::mean, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::method, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays, TFunctorLaserSimulData::params, mrpt::obs::CObservation2DRangeScanWithUncertainty::rangeScan, mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesCovar, mrpt::obs::CObservation2DRangeScanWithUncertainty::rangesMean, mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::robotPose, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyResult::scanWithUncert, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::math::transform_gaussian_montecarlo(), mrpt::math::transform_gaussian_unscented(), mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_alpha, mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_beta, and mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_kappa.

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◆ loadFromBitmap()

bool COccupancyGridMap2D::loadFromBitmap ( const mrpt::img::CImage img,
float  resolution,
const mrpt::math::TPoint2D origin = mrpt::math::TPoint2D( std::numeric_limits<double>::max(), std::numeric_limits<double>::max()) 
)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

See loadFromBitmapFile() for the meaning of parameters

Definition at line 284 of file COccupancyGridMap2D_io.cpp.

References mrpt::img::CImage::getAsFloat(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, and MRPT_START.

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◆ loadFromBitmapFile()

bool COccupancyGridMap2D::loadFromBitmapFile ( const std::string file,
float  resolution,
const mrpt::math::TPoint2D origin = mrpt::math::TPoint2D( std::numeric_limits<double>::max(), std::numeric_limits<double>::max()) 
)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

Parameters
fileThe file to be loaded.
resolutionThe size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
originThe x (0=first, increases left to right on the image) and y (0=first, increases BOTTOM upwards on the image) coordinates for the pixel which will be taken at the origin of map coordinates (0,0). (Default=center of the image)
Returns
False on any error.
See also
loadFromBitmap

Definition at line 270 of file COccupancyGridMap2D_io.cpp.

References MRPT_END, and MRPT_START.

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

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◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap Map)
inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also
insertObservation, CSimpleMap
Exceptions
std::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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◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::COccupancyGridMap2D::MapDefinition ( )
static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 32 of file COccupancyGridMap2D_common.cpp.

◆ OnPostSuccesfulInsertObs()

void COccupancyGridMap2D::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation )
overrideprotectedvirtual

See base class.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 1361 of file COccupancyGridMap2D_insert.cpp.

◆ p2l()

static cellType mrpt::maps::COccupancyGridMap2D::p2l ( const float  p)
inlinestatic

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.

Definition at line 334 of file COccupancyGridMap2D.h.

References get_logodd_lut().

Referenced by determineMatching2D(), fill(), setCell(), setCell_nocheck(), setSize(), subSample(), and updateCell().

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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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◆ resizeGrid()

void COccupancyGridMap2D::resizeGrid ( float  new_x_min,
float  new_x_max,
float  new_y_min,
float  new_y_max,
float  new_cells_default_value = 0.5f,
bool  additionalMargin = true 
)
noexcept

Change the size of gridmap, maintaining previous contents.

Parameters
new_x_minThe "x" coordinates of new left most side of grid.
new_x_maxThe "x" coordinates of new right most side of grid.
new_y_minThe "y" coordinates of new top most side of grid.
new_y_maxThe "y" coordinates of new bottom most side of grid.
new_cells_default_valueThe value of the new cells, tipically 0.5.
additionalMarginIf set to true (default), an additional margin of a few meters will be added to the grid, ONLY if the new coordinates are larger than current ones.
See also
setSize

Definition at line 196 of file COccupancyGridMap2D_common.cpp.

References mrpt::system::os::memcpy(), and mrpt::round().

Referenced by mrpt::maps::CMultiMetricMapPDF::getCurrentJointEntropy(), and mrpt::maps::CMultiMetricMapPDF::rebuildAverageMap().

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◆ saveAsBitmapFile()

bool COccupancyGridMap2D::saveAsBitmapFile ( const std::string file) const

Saves the gridmap as a graphical file (BMP,PNG,...).

The format will be derived from the file extension (see CImage::saveToFile )

Returns
False on any error.

Definition at line 36 of file COccupancyGridMap2D_io.cpp.

References MRPT_END, and MRPT_START.

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

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◆ saveAsBitmapFileWithLandmarks()

template<class CLANDMARKSMAP >
bool mrpt::maps::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks ( const std::string file,
const CLANDMARKSMAP *  landmarks,
bool  addTextLabels = false,
const mrpt::img::TColor marks_color = mrpt::img::TColor(0, 0, 255) 
) const
inline

Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.

Note
The template parameter CLANDMARKSMAP is assumed to be mrpt::maps::CLandmarksMap normally.
Returns
False on any error.

Definition at line 969 of file COccupancyGridMap2D.h.

References mrpt::img::TColor::black(), mrpt::format(), getAsImageFiltered(), MRPT_END, MRPT_START, size_y, x2idx(), and y2idx().

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◆ saveAsBitmapTwoMapsWithCorrespondences()

bool COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences ( const std::string fileName,
const COccupancyGridMap2D m1,
const COccupancyGridMap2D m2,
const mrpt::tfest::TMatchingPairList corrs 
)
static

Saves a composite image with two gridmaps and lines representing a set of correspondences between them.

See also
saveAsEMFTwoMapsWithCorrespondences
Returns
False on any error.

Definition at line 334 of file COccupancyGridMap2D_io.cpp.

References mrpt::img::CH_RGB, getAsImage(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, x2idx(), and y2idx().

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◆ saveAsEMFTwoMapsWithCorrespondences()

bool COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences ( const std::string fileName,
const COccupancyGridMap2D m1,
const COccupancyGridMap2D m2,
const mrpt::tfest::TMatchingPairList corrs 
)
static

Saves a composite image with two gridmaps and numbers for the correspondences between them.

See also
saveAsBitmapTwoMapsWithCorrespondences
Returns
False on any error.

/

for (i=0;i<n;i++) { lineColor = ((unsigned long)RandomUni(0,255.0f)) + (((unsigned long)RandomUni(0,255.0f)) << 8 ) + (((unsigned long)RandomUni(0,255.0f)) << 16 );

emf.line( m1->x2idx( corrs[i].this_x ), Ay1+ly1-1- m1->y2idx( corrs[i].this_y ), lx1+1+ m2->x2idx( corrs[i].other_x ), Ay2+ly2-1-m2->y2idx( corrs[i].other_y ), lineColor); } // i /

Definition at line 419 of file COccupancyGridMap2D_io.cpp.

References getAsImage(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), MRPT_END, MRPT_START, mrpt::system::os::sprintf(), x2idx(), and y2idx().

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◆ saveMetricMapRepresentationToFile()

void COccupancyGridMap2D::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 525 of file COccupancyGridMap2D_io.cpp.

References mrpt::math::MATRIX_FORMAT_FIXED, and mrpt::math::MatrixVectorBase< Scalar, Derived >::saveToTextFile().

Referenced by mrpt::slam::COccupancyGridMapFeatureExtractor::uncached_extractFeatures().

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◆ serializeFrom() [1/2]

void COccupancyGridMap2D::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 110 of file COccupancyGridMap2D_io.cpp.

References ASSERT_, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 COccupancyGridMap2D::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 53 of file COccupancyGridMap2D_io.cpp.

◆ serializeTo() [1/2]

void COccupancyGridMap2D::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 54 of file COccupancyGridMap2D_io.cpp.

References ASSERT_, and out.

◆ 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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◆ setBasisCell()

void mrpt::maps::COccupancyGridMap2D::setBasisCell ( int  x,
int  y,
uint8_t  value 
)
inline

Change a cell in the "basis" maps.Used for Voronoi calculation.

Definition at line 404 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), and m_basis_map.

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◆ setCell()

void mrpt::maps::COccupancyGridMap2D::setCell ( int  x,
int  y,
float  value 
)
inline

Change the contents [0,1] of a cell, given its index.

Definition at line 339 of file COccupancyGridMap2D.h.

References map, p2l(), size_x, and size_y.

Referenced by run_rnav_test(), and setPos().

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◆ setCell_nocheck()

void mrpt::maps::COccupancyGridMap2D::setCell_nocheck ( int  x,
int  y,
float  value 
)
inlineprotected

Change the contents [0,1] of a cell, given its index.

Definition at line 123 of file COccupancyGridMap2D.h.

References map, p2l(), and size_x.

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◆ setPos()

void mrpt::maps::COccupancyGridMap2D::setPos ( float  x,
float  y,
float  value 
)
inline

Change the contents [0,1] of a cell, given its coordinates.

Definition at line 381 of file COccupancyGridMap2D.h.

References setCell(), x2idx(), and y2idx().

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◆ setRawCell()

void mrpt::maps::COccupancyGridMap2D::setRawCell ( unsigned int  cellIndex,
cellType  b 
)
inlineprotected

Changes a cell by its absolute index (Do not use it normally)

Definition at line 134 of file COccupancyGridMap2D.h.

References map, size_x, and size_y.

◆ setSize()

void COccupancyGridMap2D::setSize ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolution,
float  default_value = 0.5f 
)

Change the size of gridmap, erasing all its previous contents.

Parameters
x_minThe "x" coordinates of left most side of grid.
x_maxThe "x" coordinates of right most side of grid.
y_minThe "y" coordinates of top most side of grid.
y_maxThe "y" coordinates of bottom most side of grid.
resolutionThe new size of cells.
default_valueThe value of cells, tipically 0.5.
See also
ResizeGrid

Definition at line 140 of file COccupancyGridMap2D_common.cpp.

References ASSERT_, ASSERT_ABOVE_, ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< T >::clear(), freeMap(), m_basis_map, m_is_empty, m_likelihoodCacheOutDated, m_voronoi_diagram, map, MRPT_END, MRPT_START, p2l(), resolution, mrpt::round(), size_x, size_y, x_max, x_min, y_max, and y_min.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), COccupancyGridMap2D(), mrpt::ros1bridge::fromROS(), internal_clear(), mrpt::maps::CMultiMetricMapPDF::rebuildAverageMap(), run_rnav_test(), and subSample().

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◆ setVoroniClearance()

void mrpt::maps::COccupancyGridMap2D::setVoroniClearance ( int  cx,
int  cy,
uint16_t  dist 
)
inlineprotected

Used to set the clearance of a cell, while building the Voronoi diagram.

Definition at line 681 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::containers::CDynamicGrid< T >::cellByIndex(), mrpt::containers::CDynamicGrid< T >::getSizeX(), mrpt::containers::CDynamicGrid< T >::getSizeY(), and m_voronoi_diagram.

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◆ simulateScanRay()

void COccupancyGridMap2D::simulateScanRay ( const double  x,
const double  y,
const double  angle_direction,
float &  out_range,
bool &  out_valid,
const double  max_range_meters,
const float  threshold_free = 0.4f,
const double  noiseStd = .0,
const double  angleNoiseStd = .0 
) const

Simulate just one "ray" in the grid map.

This method is used internally to sonarSimulator and laserScanSimulator.

See also
COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 110 of file COccupancyGridMap2D_simulate.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::random::getRandomGenerator(), int_x2idx, int_y2idx, INTPRECNUMBIT, and mrpt::round().

Referenced by func_laserSimul_callback().

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◆ sonarSimulator()

void COccupancyGridMap2D::sonarSimulator ( mrpt::obs::CObservationRange inout_observation,
const mrpt::poses::CPose2D robotPose,
float  threshold = 0.5f,
float  rangeNoiseStd = 0.f,
float  angleNoiseStd = mrpt::DEG2RAD(0.f) 
) const

Simulates the observations of a sonar rig into the current grid map.

The simulated ranges are stored in a CObservationRange object, which is also used to pass in some needed parameters, as the poses of the sonar sensors onto the mobile robot.

Parameters
inout_observation[IN/OUT] This must be filled with desired parameters before calling, and will contain the simulated ranges on return.
robotPose[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold[IN] The minimum occupancy threshold to consider a cell to be occupied (Default: 0.5f)
rangeNoiseStd[IN] The standard deviation of measurement noise. If not desired, set to 0.
angleNoiseStd[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).
See also
laserScanSimulator(), COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS

Definition at line 70 of file COccupancyGridMap2D_simulate.cpp.

References ASSERT_, mrpt::obs::CObservationRange::begin(), mrpt::obs::CObservationRange::end(), mrpt::obs::CObservationRange::maxSensorDistance, mrpt::poses::CPose2D::phi(), mrpt::round(), mrpt::obs::CObservationRange::sensorConeApperture, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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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.

◆ subSample()

void COccupancyGridMap2D::subSample ( int  downRatio)

Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.

Definition at line 498 of file COccupancyGridMap2D_common.cpp.

References ASSERT_, getCell(), map, p2l(), resolution, mrpt::round(), setSize(), x_max, x_min, y_max, and y_min.

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◆ updateCell()

void COccupancyGridMap2D::updateCell ( int  x,
int  y,
float  v 
)

Performs the Bayesian fusion of a new observation of a cell.

See also
updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free

Definition at line 456 of file COccupancyGridMap2D_common.cpp.

References mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::cellsUpdated, mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::enabled, H(), mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly::I_change, l2p(), map, MAX_H, OCCGRID_CELLTYPE_MAX, OCCGRID_CELLTYPE_MIN, p2l(), size_x, size_y, and updateInfoChangeOnly.

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◆ updateCell_fast_free() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< OccGridCellTraits::cellType >::updateCell_fast_free ( const unsigned  x,
const unsigned  y,
const cell_t  logodd_obs,
const cell_t  thres,
cell_t mapArray,
const unsigned  _size_x 
)
inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 84 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_free() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< OccGridCellTraits::cellType >::updateCell_fast_free ( cell_t theCell,
const cell_t  logodd_obs,
const cell_t  thres 
)
inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MAX-logodd_obs
See also
updateCell_fast_occupied

Definition at line 106 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [1/2]

static void mrpt::maps::CLogOddsGridMap2D< OccGridCellTraits::cellType >::updateCell_fast_occupied ( const unsigned  x,
const unsigned  y,
const cell_t  logodd_obs,
const cell_t  thres,
cell_t mapArray,
const unsigned  _size_x 
)
inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 43 of file CLogOddsGridMap2D.h.

◆ updateCell_fast_occupied() [2/2]

static void mrpt::maps::CLogOddsGridMap2D< OccGridCellTraits::cellType >::updateCell_fast_occupied ( cell_t theCell,
const cell_t  logodd_obs,
const cell_t  thres 
)
inlinestaticinherited

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters
theCellThe cell to modify
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be CELLTYPE_MIN+logodd_obs
See also
updateCell, updateCell_fast_free

Definition at line 64 of file CLogOddsGridMap2D.h.

◆ 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() [1/3]

int mrpt::maps::COccupancyGridMap2D::x2idx ( float  x) const
inline

Transform a coordinate value into a cell index.

Definition at line 281 of file COccupancyGridMap2D.h.

References resolution, and x_min.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), getPos(), isStaticPos(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), run_rnav_test(), saveAsBitmapFileWithLandmarks(), saveAsBitmapTwoMapsWithCorrespondences(), saveAsEMFTwoMapsWithCorrespondences(), and setPos().

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◆ x2idx() [2/3]

int mrpt::maps::COccupancyGridMap2D::x2idx ( double  x) const
inline

Definition at line 290 of file COccupancyGridMap2D.h.

References resolution, and x_min.

◆ x2idx() [3/3]

int mrpt::maps::COccupancyGridMap2D::x2idx ( float  x,
float  xmin 
) const
inline

Transform a coordinate value into a cell index, using a diferent "x_min" value.

Definition at line 311 of file COccupancyGridMap2D.h.

References resolution.

◆ y2idx() [1/3]

int mrpt::maps::COccupancyGridMap2D::y2idx ( float  y) const
inline

Definition at line 285 of file COccupancyGridMap2D.h.

References resolution, and y_min.

Referenced by mrpt::nav::PlannerSimple2D::computePath(), determineMatching2D(), getPos(), isStaticPos(), mrpt::slam::CMonteCarloLocalization2D::resetUniformFreeSpace(), run_rnav_test(), saveAsBitmapFileWithLandmarks(), saveAsBitmapTwoMapsWithCorrespondences(), saveAsEMFTwoMapsWithCorrespondences(), and setPos().

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◆ y2idx() [2/3]

int mrpt::maps::COccupancyGridMap2D::y2idx ( double  y) const
inline

Definition at line 294 of file COccupancyGridMap2D.h.

References resolution, and y_min.

◆ y2idx() [3/3]

int mrpt::maps::COccupancyGridMap2D::y2idx ( float  y,
float  ymin 
) const
inline

Definition at line 315 of file COccupancyGridMap2D.h.

References resolution.

Friends And Related Function Documentation

◆ CMultiMetricMap

friend class CMultiMetricMap
friend

Definition at line 75 of file COccupancyGridMap2D.h.

◆ CMultiMetricMapPDF

friend class CMultiMetricMapPDF
friend

Definition at line 76 of file COccupancyGridMap2D.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::COccupancyGridMap2D::className = "mrpt::maps" "::" "COccupancyGridMap2D"
static

Definition at line 57 of file COccupancyGridMap2D.h.

◆ CriticalPointsList

struct mrpt::maps::COccupancyGridMap2D::TCriticalPointsList mrpt::maps::COccupancyGridMap2D::CriticalPointsList

◆ direccion_vecino_x

int mrpt::maps::COccupancyGridMap2D::direccion_vecino_x[8]
private

Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.

See also
direction2idx

Definition at line 1134 of file COccupancyGridMap2D.h.

◆ direccion_vecino_y

int mrpt::maps::COccupancyGridMap2D::direccion_vecino_y[8]
private

Definition at line 1134 of file COccupancyGridMap2D.h.

◆ entropyTable

std::vector< float > COccupancyGridMap2D::entropyTable
staticprotected

Internally used to speed-up entropy calculation.

Definition at line 120 of file COccupancyGridMap2D.h.

Referenced by computeEntropy().

◆ genericMapParams

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

◆ insertionOptions

TInsertionOptions mrpt::maps::COccupancyGridMap2D::insertionOptions

With this struct options are provided to the observation insertion process.

See also
CObservation::insertIntoGridMap

Definition at line 523 of file COccupancyGridMap2D.h.

Referenced by internal_canComputeObservationLikelihood(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ likelihoodOptions

mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions mrpt::maps::COccupancyGridMap2D::likelihoodOptions

◆ likelihoodOutputs

class mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput mrpt::maps::COccupancyGridMap2D::likelihoodOutputs

◆ m_basis_map

mrpt::containers::CDynamicGrid<uint8_t> mrpt::maps::COccupancyGridMap2D::m_basis_map
protected

Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.

Definition at line 100 of file COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), getBasisCell(), getBasisMap(), setBasisCell(), and setSize().

◆ m_is_empty

bool mrpt::maps::COccupancyGridMap2D::m_is_empty {true}
protected

True upon construction; used by isEmpty()

Definition at line 109 of file COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), isEmpty(), and setSize().

◆ m_likelihoodCacheOutDated

bool mrpt::maps::COccupancyGridMap2D::m_likelihoodCacheOutDated {true}
protected

Definition at line 96 of file COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), fill(), freeMap(), internal_clear(), and setSize().

◆ m_private_map_register_id

const size_t mrpt::maps::COccupancyGridMap2D::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "mrpt::maps::COccupancyGridMap2D,occupancyGrid" , & mrpt::maps::COccupancyGridMap2D ::MapDefinition, & mrpt::maps::COccupancyGridMap2D ::internal_CreateFromMapDefinition)
static

ID used to initialize class registration (just ignore it)

Definition at line 1150 of file COccupancyGridMap2D.h.

◆ m_voronoi_diagram

mrpt::containers::CDynamicGrid<uint16_t> mrpt::maps::COccupancyGridMap2D::m_voronoi_diagram
protected

Used to store the Voronoi diagram.

Contains the distance of each cell to its closer obstacles in 1/100th distance units (i.e. in centimeters), or 0 if not into the Voronoi diagram

Definition at line 106 of file COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), freeMap(), getVoroniClearance(), getVoronoiDiagram(), setSize(), and setVoroniClearance().

◆ map

std::vector<cellType> mrpt::maps::COccupancyGridMap2D::map
protected

◆ OCCGRID_CELLTYPE_MAX

constexpr cellType mrpt::maps::COccupancyGridMap2D::OCCGRID_CELLTYPE_MAX
static
Initial value:
=
CLogOddsGridMap2D<cellType>::CELLTYPE_MAX

Definition at line 67 of file COccupancyGridMap2D.h.

Referenced by updateCell().

◆ OCCGRID_CELLTYPE_MIN

constexpr cellType mrpt::maps::COccupancyGridMap2D::OCCGRID_CELLTYPE_MIN
static
Initial value:
=
CLogOddsGridMap2D<cellType>::CELLTYPE_MIN

Discrete to float conversion factors: The min/max values of the integer cell type, eg.

[0,255] or [0,65535]

Definition at line 65 of file COccupancyGridMap2D.h.

Referenced by updateCell().

◆ precomputedLikelihood

std::vector<double> mrpt::maps::COccupancyGridMap2D::precomputedLikelihood
protected

Auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).

Definition at line 95 of file COccupancyGridMap2D.h.

◆ RAYTRACE_STEP_SIZE_IN_CELL_UNITS

double COccupancyGridMap2D::RAYTRACE_STEP_SIZE_IN_CELL_UNITS = 0.8
static

(Default:1.0) Can be set to <1 if a more fine raytracing is needed in sonarSimulator() and laserScanSimulator(), or >1 to speed it up.

Definition at line 72 of file COccupancyGridMap2D.h.

◆ resolution

float mrpt::maps::COccupancyGridMap2D::resolution {}
protected

Cell size, i.e.

resolution of the grid map.

Definition at line 90 of file COccupancyGridMap2D.h.

Referenced by computeEntropy(), computePathCost(), copyMapContentFrom(), determineMatching2D(), getArea(), getResolution(), idx2x(), idx2y(), setSize(), subSample(), x2idx(), and y2idx().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::COccupancyGridMap2D::runtimeClassId
staticprotected

Definition at line 57 of file COccupancyGridMap2D.h.

◆ size_x

uint32_t mrpt::maps::COccupancyGridMap2D::size_x {0}
protected

◆ size_y

uint32_t mrpt::maps::COccupancyGridMap2D::size_y {0}
protected

◆ updateInfoChangeOnly

struct mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly mrpt::maps::COccupancyGridMap2D::updateInfoChangeOnly

Referenced by updateCell().

◆ voroni_free_threshold

float mrpt::maps::COccupancyGridMap2D::voroni_free_threshold {}
protected

The free-cells threshold used to compute the Voronoi diagram.

Definition at line 115 of file COccupancyGridMap2D.h.

◆ x_max

float mrpt::maps::COccupancyGridMap2D::x_max {}
protected

◆ x_min

float mrpt::maps::COccupancyGridMap2D::x_min {}
protected

The limits of the grid in "units" (meters)

Definition at line 88 of file COccupancyGridMap2D.h.

Referenced by copyMapContentFrom(), getXMin(), idx2x(), setSize(), subSample(), and x2idx().

◆ y_max

float mrpt::maps::COccupancyGridMap2D::y_max {}
protected

◆ y_min

float mrpt::maps::COccupancyGridMap2D::y_min {}
protected



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