MRPT  1.9.9
mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks Struct Reference

Detailed Description

The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation.

Definition at line 134 of file CLandmarksMap.h.

#include <mrpt/maps/CLandmarksMap.h>

Public Types

using iterator = internal::TSequenceLandmarks::iterator
 
using const_iterator = internal::TSequenceLandmarks::const_iterator
 

Public Member Functions

 TCustomSequenceLandmarks ()
 Default constructor. More...
 
iterator begin ()
 
iterator end ()
 
void clear ()
 
size_t size () const
 
const_iterator begin () const
 
const_iterator end () const
 
void push_back (const CLandmark &lm)
 The object is copied, thus the original copy passed as a parameter can be released. More...
 
CLandmarkget (unsigned int indx)
 
const CLandmarkget (unsigned int indx) const
 
void isToBeModified (unsigned int indx)
 
void hasBeenModified (unsigned int indx)
 
void hasBeenModifiedAll ()
 
void erase (unsigned int indx)
 
mrpt::containers::CDynamicGrid< std::vector< int32_t > > * getGrid ()
 
const CLandmarkgetByID (CLandmark::TLandmarkID ID) const
 Returns the landmark with a given landmrk ID, or nullptr if not found. More...
 
const CLandmarkgetByBeaconID (unsigned int ID) const
 Returns the landmark with a given beacon ID, or nullptr if not found. More...
 
float getLargestDistanceFromOrigin () const
 This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one). More...
 

Private Attributes

internal::TSequenceLandmarks m_landmarks
 The actual list. More...
 
mrpt::containers::CDynamicGrid< std::vector< int32_t > > m_grid
 A grid-map with the set of landmarks falling into each cell. More...
 
float m_largestDistanceFromOrigin {}
 Auxiliary variables used in "getLargestDistanceFromOrigin". More...
 
bool m_largestDistanceFromOriginIsUpdated {false}
 Auxiliary variables used in "getLargestDistanceFromOrigin". More...
 

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::const_iterator = internal::TSequenceLandmarks::const_iterator

Definition at line 164 of file CLandmarksMap.h.

◆ iterator

using mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::iterator = internal::TSequenceLandmarks::iterator

Definition at line 159 of file CLandmarksMap.h.

Constructor & Destructor Documentation

◆ TCustomSequenceLandmarks()

CLandmarksMap::TCustomSequenceLandmarks::TCustomSequenceLandmarks ( )

Default constructor.

Definition at line 1794 of file CLandmarksMap.cpp.

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::begin ( ) const
inline

Definition at line 165 of file CLandmarksMap.h.

References m_landmarks.

◆ clear()

void CLandmarksMap::TCustomSequenceLandmarks::clear ( )

Definition at line 1800 of file CLandmarksMap.cpp.

◆ end() [1/2]

◆ end() [2/2]

const_iterator mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::end ( ) const
inline

Definition at line 166 of file CLandmarksMap.h.

References m_landmarks.

◆ erase()

void CLandmarksMap::TCustomSequenceLandmarks::erase ( unsigned int  indx)

Definition at line 1860 of file CLandmarksMap.cpp.

◆ get() [1/2]

CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get ( unsigned int  indx)

Definition at line 1831 of file CLandmarksMap.cpp.

Referenced by mrpt::maps::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap(), mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks(), and mrpt::maps::CLandmarksMap::fuseWith().

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◆ get() [2/2]

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::get ( unsigned int  indx) const

Definition at line 1836 of file CLandmarksMap.cpp.

◆ getByBeaconID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByBeaconID ( unsigned int  ID) const

Returns the landmark with a given beacon ID, or nullptr if not found.

Definition at line 2526 of file CLandmarksMap.cpp.

Referenced by mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams().

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◆ getByID()

const CLandmark * CLandmarksMap::TCustomSequenceLandmarks::getByID ( CLandmark::TLandmarkID  ID) const

Returns the landmark with a given landmrk ID, or nullptr if not found.

Definition at line 2505 of file CLandmarksMap.cpp.

◆ getGrid()

mrpt::containers::CDynamicGrid<std::vector<int32_t> >* mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::getGrid ( )
inline

Definition at line 178 of file CLandmarksMap.h.

References m_grid.

◆ getLargestDistanceFromOrigin()

float CLandmarksMap::TCustomSequenceLandmarks::getLargestDistanceFromOrigin ( ) const

This method returns the largest distance from the origin to any of the points, such as a sphere centered at the origin with this radius cover ALL the points in the map (the results are buffered, such as, if the map is not modified, the second call will be much faster than the first one).

Definition at line 1924 of file CLandmarksMap.cpp.

References mrpt::square().

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

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◆ hasBeenModified()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModified ( unsigned int  indx)

Definition at line 1866 of file CLandmarksMap.cpp.

◆ hasBeenModifiedAll()

void CLandmarksMap::TCustomSequenceLandmarks::hasBeenModifiedAll ( )

Definition at line 1884 of file CLandmarksMap.cpp.

References MRPT_END, and MRPT_START.

◆ isToBeModified()

void CLandmarksMap::TCustomSequenceLandmarks::isToBeModified ( unsigned int  indx)

Definition at line 1842 of file CLandmarksMap.cpp.

◆ push_back()

void CLandmarksMap::TCustomSequenceLandmarks::push_back ( const CLandmark lm)

The object is copied, thus the original copy passed as a parameter can be released.

Definition at line 1810 of file CLandmarksMap.cpp.

References ASSERT_, mrpt::maps::CLandmark::pose_mean, mrpt::math::TPoint3D_data::x, and mrpt::math::TPoint3D_data::y.

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

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◆ size()

size_t mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::size ( ) const
inline

Definition at line 163 of file CLandmarksMap.h.

References m_landmarks.

Referenced by mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), and mrpt::maps::CLandmarksMap::computeMatchingWith3DLandmarks().

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Member Data Documentation

◆ m_grid

mrpt::containers::CDynamicGrid<std::vector<int32_t> > mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_grid
private

A grid-map with the set of landmarks falling into each cell.

Definition at line 142 of file CLandmarksMap.h.

Referenced by getGrid().

◆ m_landmarks

internal::TSequenceLandmarks mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_landmarks
private

The actual list.

Definition at line 138 of file CLandmarksMap.h.

Referenced by begin(), end(), and size().

◆ m_largestDistanceFromOrigin

float mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOrigin {}
mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also
getLargestDistanceFromOrigin

Definition at line 147 of file CLandmarksMap.h.

◆ m_largestDistanceFromOriginIsUpdated

bool mrpt::maps::CLandmarksMap::TCustomSequenceLandmarks::m_largestDistanceFromOriginIsUpdated {false}
mutableprivate

Auxiliary variables used in "getLargestDistanceFromOrigin".

See also
getLargestDistanceFromOrigin

Definition at line 152 of file CLandmarksMap.h.




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