MRPT  1.9.9
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mrpt::maps::COctoMapBase< octree_t, octree_node_t > Class Template Referenceabstract

Detailed Description

template<class octree_t, class octree_node_t>
class mrpt::maps::COctoMapBase< octree_t, octree_node_t >

A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.

This base class represents a 3D map where each voxel may contain an "occupancy" property, RGBD data, etc. depending on the derived class.

As with any other mrpt::maps::CMetricMap, you can obtain a 3D representation of the map calling getAs3DObject() or getAsOctoMapVoxels()

To use octomap's iterators to go through the voxels, use COctoMap::getOctomap()

The octomap library was presented in:

See also
CMetricMap, the example in "MRPT/samples/octomap_simple"

Definition at line 45 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< octree_t, octree_node_t >:

Classes

struct  TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
struct  TLikelihoodOptions
 observations in the map More...
 
struct  TRenderingOptions
 Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels. More...
 

Public Types

using myself_t = COctoMapBase< octree_t, octree_node_t >
 
using UniquePtr = std::unique_ptr< CObject >
 
using ConstUniquePtr = std::unique_ptr< const CObject >
 

Public Member Functions

 COctoMapBase (double resolution)
 Constructor, defines the resolution of the octomap (length of each voxel side) More...
 
 ~COctoMapBase () override=default
 
template<class OCTOMAP_CLASS >
OCTOMAP_CLASS & getOctomap ()
 Get a reference to the internal octomap object. More...
 
void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
 This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...
 
void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
 Returns a 3D object representing the map. More...
 
virtual void getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const =0
 Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. More...
 
bool getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const
 Get the occupancy probability [0,1] of a point. More...
 
void insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z)
 Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. More...
 
bool castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const
 Performs raycasting in 3d, similar to computeRay(). More...
 
virtual void setOccupancyThres (double prob)=0
 
virtual void setProbHit (double prob)=0
 
virtual void setProbMiss (double prob)=0
 
virtual void setClampingThresMin (double thresProb)=0
 
virtual void setClampingThresMax (double thresProb)=0
 
virtual double getOccupancyThres () const =0
 
virtual float getOccupancyThresLog () const =0
 
virtual double getProbHit () const =0
 
virtual float getProbHitLog () const =0
 
virtual double getProbMiss () const =0
 
virtual float getProbMissLog () const =0
 
virtual double getClampingThresMin () const =0
 
virtual float getClampingThresMinLog () const =0
 
virtual double getClampingThresMax () const =0
 
virtual float getClampingThresMaxLog () const =0
 
void clear ()
 Erase all the contents of the map. More...
 
virtual bool isEmpty () const =0
 Returns true if the map is empty/no observation has been inserted. More...
 
void loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
 Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...
 
void loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
 ! More...
 
bool insertObservation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=nullptr)
 A wrapper for smart pointers, just calls the non-smart pointer version. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom)
 Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...
 
double computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose2D &takenFrom)
 
virtual bool canComputeObservationLikelihood (const mrpt::obs::CObservation &obs) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
double computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
 Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...
 
bool canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...
 
virtual void determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matching between this and another 2D point map, which includes finding: More...
 
virtual void determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
 Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...
 
virtual float compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const
 Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. 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...
 
virtual CObjectclone () const =0
 Returns a deep copy (clone) of the object, indepently of its 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...
 

Public Attributes

TInsertionOptions insertionOptions
 The options used when inserting. More...
 
TLikelihoodOptions likelihoodOptions
 
TRenderingOptions renderingOptions
 
TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Protected Member Functions

template<class octomap_point3d , class octomap_pointcloud >
bool internal_build_PointCloud_for_observation (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose, octomap_point3d &sensorPt, octomap_pointcloud &scan) const
 Builds the list of 3D points in global coordinates for a generic observation. 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
virtual uint8_t serializeGetVersion () const =0
 Must return the current versioning number of the object. More...
 
virtual void serializeTo (CArchive &out) const =0
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CArchive &in, uint8_t serial_version)=0
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

mrpt::pimpl< Impl > m_impl
 

Private Member Functions

double internal_computeObservationLikelihood (const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
 Internal method called by computeObservationLikelihood() More...
 

RTTI stuff

using Ptr = std::shared_ptr< CMetricMap >
 
using ConstPtr = std::shared_ptr< const CMetricMap >
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 55 of file CMetricMap.h.

◆ ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>
inherited

Definition at line 187 of file CObject.h.

◆ myself_t

template<class octree_t, class octree_node_t>
using mrpt::maps::COctoMapBase< octree_t, octree_node_t >::myself_t = COctoMapBase<octree_t, octree_node_t>

Definition at line 48 of file COctoMapBase.h.

◆ Ptr

Definition at line 55 of file CMetricMap.h.

◆ UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>
inherited

Definition at line 186 of file CObject.h.

Constructor & Destructor Documentation

◆ COctoMapBase()

template<class OCTREE , class OCTREE_NODE >
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::COctoMapBase ( double  resolution)

Constructor, defines the resolution of the octomap (length of each voxel side)

Definition at line 28 of file COctoMapBase_impl.h.

◆ ~COctoMapBase()

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::~COctoMapBase ( )
overridedefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMetricMap::_GetBaseClass ( )
staticprotectedinherited

◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )
inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

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

Definition at line 283 of file CMetricMap.h.

◆ canComputeObservationLikelihood()

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

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

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

Parameters
obsThe observation.
See also
computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 172 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame sf) const
inherited

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

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

Parameters
sfThe observations.
See also
canComputeObservationLikelihood

Definition at line 85 of file CMetricMap.cpp.

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

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◆ castRay()

template<class OCTREE , class OCTREE_NODE >
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay ( const mrpt::math::TPoint3D origin,
const mrpt::math::TPoint3D direction,
mrpt::math::TPoint3D end,
bool  ignoreUnknownCells = false,
double  maxRange = -1.0 
) const

Performs raycasting in 3d, similar to computeRay().

A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.

Parameters
originstarting coordinate of ray
directionA vector pointing in the direction of the raycast. Does not need to be normalized.
endreturns the center of the cell that was hit by the ray, if successful
ignoreUnknownCellswhether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit.
maxRangeMaximum range after which the raycast is aborted (<= 0: no limit, default)
Returns
whether or not an occupied cell was hit

Definition at line 276 of file COctoMapBase_impl.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::castRay().

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◆ clear()

void CMetricMap::clear ( )
inherited

◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const
pure virtualinherited

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

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, MyNS::Bar, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, MyNS::MyDerived2, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, MyNS::MyDerived1, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, MyNS::Foo, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ compute3DMatchingRatio()

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

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The 6D pose of the other map as seen from "this".
params[IN] Matching parameters
Returns
The matching ratio [0,1]
See also
determineMatching2D

Reimplemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap3D, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.

Definition at line 149 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

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◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D takenFrom 
)
inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns
This method returns a log-likelihood.
See also
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 181 of file CMetricMap.cpp.

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

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◆ computeObservationLikelihood() [2/2]

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

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

Definition at line 76 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

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

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

See: Maps and observations compatibility matrix

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

Definition at line 66 of file CMetricMap.cpp.

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

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◆ determineMatching2D()

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

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

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

The algorithm is:

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

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

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

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

Definition at line 119 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP_Method_Classic().

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◆ determineMatching3D()

void CMetricMap::determineMatching3D ( const mrpt::maps::CMetricMap otherMap,
const mrpt::poses::CPose3D otherMapPose,
mrpt::tfest::TMatchingPairList correspondences,
const TMatchingParams params,
TMatchingExtraResults extraResults 
) const
virtualinherited

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

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

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

The algorithm is:

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

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 134 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

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◆ duplicateGetSmartPtr()

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

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

Definition at line 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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◆ getAs3DObject()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr outObj) const
inlineoverridevirtual

Returns a 3D object representing the map.

See also
renderingOptions

Implements mrpt::maps::CMetricMap.

Definition at line 295 of file COctoMapBase.h.

◆ getAsOctoMapVoxels()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getAsOctoMapVoxels ( mrpt::opengl::COctoMapVoxels gl_obj) const
pure virtual

Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.

See also
renderingOptions

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::getAs3DObject().

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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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◆ getClampingThresMax()

template<class octree_t, class octree_node_t>
virtual double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMax ( ) const
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream().

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◆ getClampingThresMaxLog()

template<class octree_t, class octree_node_t>
virtual float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMaxLog ( ) const
pure virtual

◆ getClampingThresMin()

template<class octree_t, class octree_node_t>
virtual double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMin ( ) const
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream().

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◆ getClampingThresMinLog()

template<class octree_t, class octree_node_t>
virtual float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMinLog ( ) const
pure virtual

◆ getOccupancyThres()

template<class octree_t, class octree_node_t>
virtual double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThres ( ) const
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream().

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◆ getOccupancyThresLog()

template<class octree_t, class octree_node_t>
virtual float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThresLog ( ) const
pure virtual

◆ getOctomap()

template<class octree_t, class octree_node_t>
template<class OCTOMAP_CLASS >
OCTOMAP_CLASS& mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOctomap ( )
inline

Get a reference to the internal octomap object.

Example:

octomap::OcTree &om = map.getOctomap<octomap::OcTree>();

Definition at line 61 of file COctoMapBase.h.

◆ getPointOccupancy()

template<class OCTREE , class OCTREE_NODE >
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getPointOccupancy ( const float  x,
const float  y,
const float  z,
double &  prob_occupancy 
) const

Get the occupancy probability [0,1] of a point.

Returns
false if the point is not mapped, in which case the returned "prob" is undefined.

Definition at line 242 of file COctoMapBase_impl.h.

Referenced by TEST().

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◆ getProbHit()

template<class octree_t, class octree_node_t>
virtual double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHit ( ) const
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream().

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◆ getProbHitLog()

template<class octree_t, class octree_node_t>
virtual float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHitLog ( ) const
pure virtual

◆ getProbMiss()

template<class octree_t, class octree_node_t>
virtual double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMiss ( ) const
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::dumpToTextStream().

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◆ getProbMissLog()

template<class octree_t, class octree_node_t>
virtual float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMissLog ( ) const
pure virtual

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMetricMap::GetRuntimeClass ( ) const
overridevirtualinherited

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CMetricMap::GetRuntimeClassIdStatic ( )
staticinherited

◆ 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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◆ insertObservation()

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

Insert the observation information into this map.

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

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

Definition at line 93 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), TEST(), and mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateMapVisualization().

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◆ insertObservationPtr()

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

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

See: Maps and observations compatibility matrix

Definition at line 107 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

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◆ insertPointCloud()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud ( const CPointsMap ptMap,
const float  sensor_x,
const float  sensor_y,
const float  sensor_z 
)

Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.

Insertion parameters can be found in insertionOptions.

See also
The generic observation insertion method CMetricMap::insertObservation()

Definition at line 259 of file COctoMapBase_impl.h.

◆ internal_build_PointCloud_for_observation()

template<class OCTREE , class OCTREE_NODE >
template<class octomap_point3d , class octomap_pointcloud >
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_build_PointCloud_for_observation ( const mrpt::obs::CObservation obs,
const mrpt::poses::CPose3D robotPose,
octomap_point3d &  sensorPt,
octomap_pointcloud &  scan 
) const
protected

Builds the list of 3D points in global coordinates for a generic observation.

Used for both, insertObservation() and computeLikelihood().

Parameters
[out]point3d_sensorPtIs a pointer to a "point3D".
[out]ptr_scanIs in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code.
Returns
false if the observation kind is not applicable.

Definition at line 36 of file COctoMapBase_impl.h.

◆ internal_computeObservationLikelihood()

template<class OCTREE , class OCTREE_NODE >
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 215 of file COctoMapBase_impl.h.

◆ isEmpty()

virtual bool mrpt::maps::CMetricMap::isEmpty ( ) const
pure virtualinherited

◆ loadFromProbabilisticPosesAndObservations()

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

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

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

See also
insertObservation, CSimpleMap
Exceptions
std::exceptionSome internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 36 of file CMetricMap.cpp.

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

Referenced by mrpt::maps::CMetricMap::loadFromSimpleMap(), 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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◆ 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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◆ saveMetricMapRepresentationToFile()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 187 of file COctoMapBase_impl.h.

◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CArchive in,
uint8_t  serial_version 
)
protectedpure virtualinherited

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

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

◆ 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()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const
protectedpure virtualinherited

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.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive out) const
protectedpure virtualinherited

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

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [2/2]

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

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

Definition at line 64 of file CSerializable.h.

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

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◆ setClampingThresMax()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax ( double  thresProb)
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile().

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◆ setClampingThresMin()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin ( double  thresProb)
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile().

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◆ setOccupancyThres()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres ( double  prob)
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile().

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◆ setProbHit()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit ( double  prob)
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile().

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◆ setProbMiss()

template<class octree_t, class octree_node_t>
virtual void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss ( double  prob)
pure virtual

Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::loadFromConfigFile().

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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.

◆ 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.

Member Data Documentation

◆ genericMapParams

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

◆ insertionOptions

template<class octree_t, class octree_node_t>
TInsertionOptions mrpt::maps::COctoMapBase< octree_t, octree_node_t >::insertionOptions

The options used when inserting.

Definition at line 227 of file COctoMapBase.h.

◆ likelihoodOptions

template<class octree_t, class octree_node_t>
TLikelihoodOptions mrpt::maps::COctoMapBase< octree_t, octree_node_t >::likelihoodOptions

Definition at line 254 of file COctoMapBase.h.

◆ m_impl

template<class octree_t, class octree_node_t>
mrpt::pimpl<Impl> mrpt::maps::COctoMapBase< octree_t, octree_node_t >::m_impl
protected

◆ renderingOptions

template<class octree_t, class octree_node_t>
TRenderingOptions mrpt::maps::COctoMapBase< octree_t, octree_node_t >::renderingOptions

Definition at line 290 of file COctoMapBase.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CMetricMap::runtimeClassId
staticprotectedinherited

Definition at line 55 of file CMetricMap.h.




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