class mrpt::maps::CSimpleMap

A view-based representation of a metric map.

This comprises a list of <ProbabilisticPose,SensoryFrame> pairs, that is, the poses (keyframes) from which a set of observations where gathered:

• Poses, in the global map frame of reference, are stored as probabilistic PDFs over SE(3) as instances of mrpt::poses::CPose3DPDF

• Observations are stored as mrpt::obs::CSensoryFrame.

Note that in order to generate an actual metric map (occupancy grid, point cloud, octomap, etc.) from a “simple map”, you must instantiate the desired metric map class and invoke its virtual method mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations().

Objects of this class are serialized into GZ-compressed files with the extension .simplemap. See Robotics file formats.

See also:

mrpt::obs::CSensoryFrame, mrpt::poses::CPose3DPDF, mrpt::maps::CMetricMap

#include <mrpt/maps/CSimpleMap.h>

class CSimpleMap: public mrpt::serialization::CSerializable
{
public:
    // typedefs

    typedef std::deque<Pair> TPosePDFSensFramePairList;
    typedef TPosePDFSensFramePairList::const_iterator const_iterator;
    typedef TPosePDFSensFramePairList::iterator iterator;
    typedef TPosePDFSensFramePairList::reverse_iterator reverse_iterator;
    typedef TPosePDFSensFramePairList::const_reverse_iterator const_reverse_iterator;

    // structs

    struct ConstPair;
    struct Pair;

    // construction

    CSimpleMap();
    CSimpleMap(const CSimpleMap& o);

    //
methods

    const_iterator begin() const;
    const_iterator end() const;
    const_iterator cbegin() const;
    const_iterator cend() const;
    iterator begin();
    iterator end();
    const_reverse_iterator rbegin() const;
    const_reverse_iterator rend() const;
    const_reverse_iterator crbegin() const;
    const_reverse_iterator crend() const;
    reverse_iterator rbegin();
    reverse_iterator rend();
    bool saveToFile(const std::string& filName) const;
    bool loadFromFile(const std::string& filName);
    size_t size() const;
    bool empty() const;
    void get(size_t index, mrpt::poses::CPose3DPDF::ConstPtr& out_posePDF, mrpt::obs::CSensoryFrame::ConstPtr& out_SF) const;
    std::tuple<mrpt::poses::CPose3DPDF::ConstPtr, mrpt::obs::CSensoryFrame::ConstPtr> get(size_t index) const;
    ConstPair getAsPair(size_t index) const;
    Pair& getAsPair(size_t index);
    void get(size_t index, mrpt::poses::CPose3DPDF::Ptr& out_posePDF, mrpt::obs::CSensoryFrame::Ptr& out_SF);
    std::tuple<mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr> get(size_t index);
    void set(size_t index, const mrpt::poses::CPose3DPDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF);
    void set(size_t index, const Pair& poseSF);

    void set(
        size_t index,
        const mrpt::poses::CPosePDF::Ptr& in_posePDF,
        const mrpt::obs::CSensoryFrame::Ptr& in_SF
        );

    void remove(size_t index);
    void insert(const mrpt::poses::CPose3DPDF& in_posePDF, const mrpt::obs::CSensoryFrame& in_SF);
    void insert(const mrpt::poses::CPose3DPDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF);
    void insert(const Pair& poseSF);
    void insert(const mrpt::poses::CPosePDF& in_posePDF, const mrpt::obs::CSensoryFrame& in_SF);
    void insert(const mrpt::poses::CPosePDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF);
    void clear();
    void changeCoordinatesOrigin(const mrpt::poses::CPose3D& newOrigin);
    CSimpleMap& operator = (const CSimpleMap& o);
};

Construction

CSimpleMap()

Default ctor: empty map.

CSimpleMap(const CSimpleMap& o)

Copy constructor, makes a deep copy of all data.

Methods

bool saveToFile(const std::string& filName) const

Save this object to a .simplemap binary file (compressed with gzip) See Robotics file formats.

Returns:

false on any error.

See also:

loadFromFile()

bool loadFromFile(const std::string& filName)

Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) See Robotics file formats.

Returns:

false on any error.

See also:

saveToFile()

size_t size() const

Returns the count of (pose,sensoryFrame) pairs.

bool empty() const

Returns size()!=0.

void get(size_t index, mrpt::poses::CPose3DPDF::ConstPtr& out_posePDF, mrpt::obs::CSensoryFrame::ConstPtr& out_SF) const

Access to the 0-based index i’th pair.

Parameters:

std::exception

On index out of bounds.

std::tuple<mrpt::poses::CPose3DPDF::ConstPtr, mrpt::obs::CSensoryFrame::ConstPtr> get(size_t index) const

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

void get(size_t index, mrpt::poses::CPose3DPDF::Ptr& out_posePDF, mrpt::obs::CSensoryFrame::Ptr& out_SF)

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

std::tuple<mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr> get(size_t index)

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

void set(size_t index, const mrpt::poses::CPose3DPDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF)

Changes the 0-based index i’th pair.

If one of either in_posePDF or in_SF are empty shared_ptr s, the corresponding field in the map is not modified.

Parameters:

std::exception

On index out of bounds.

See also:

insert, get, remove

void set(size_t index, const Pair& poseSF)

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

void remove(size_t index)

Deletes the 0-based index i’th pair.

Parameters:

std::exception

On index out of bounds.

See also:

insert, get, set

void insert(const mrpt::poses::CPose3DPDF& in_posePDF, const mrpt::obs::CSensoryFrame& in_SF)

Adds a new keyframe (SE(3) pose) to the view-based map, making a deep copy of the pose PDF (observations within the SF are always copied as shared_ptr s).

void insert(const mrpt::poses::CPose3DPDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF)

Adds a new keyframe (SE(3) pose) to the view-based map.

Both shared pointers are copied (shallow object copies).

void insert(const Pair& poseSF)

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

void insert(const mrpt::poses::CPosePDF& in_posePDF, const mrpt::obs::CSensoryFrame& in_SF)

Adds a new keyframe (SE(2) pose) to the view-based map, making a deep copy of the pose PDF (observations within the SF are always copied as shared_ptr s).

void insert(const mrpt::poses::CPosePDF::Ptr& in_posePDF, const mrpt::obs::CSensoryFrame::Ptr& in_SF)

Adds a new keyframe (SE(2) pose) to the view-based map.

Both shared pointers are copied (shallow object copies).

void clear()

Remove all stored pairs.

See also:

remove

void changeCoordinatesOrigin(const mrpt::poses::CPose3D& newOrigin)

Change the coordinate origin of all stored poses, that is, translates and rotates the map such that the old SE(3) origin (identity transformation) becomes the new provided one.

CSimpleMap& operator = (const CSimpleMap& o)

Copy, making a deep copy of all data.