CWirelessPowerGridMap2D.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CWirelessPowerGridMap2D_H
#define CWirelessPowerGridMap2D_H

#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/obs/CObservationWirelessPower.h>

namespace mrpt::maps
{
/** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D
 * area.
  *
  *  There are a number of methods available to build the wifi grid-map,
 * depending on the value of
  *    "TMapRepresentation maptype" passed in the constructor (see
 * CRandomFieldGridMap2D for a discussion).
  *
  * Update the map with insertIndividualReading() or insertObservation()
  *
  * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
 * mrpt::containers::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
  * \ingroup mrpt_maps_grp
  */
class CWirelessPowerGridMap2D : public CRandomFieldGridMap2D
{
    DEFINE_SERIALIZABLE(CWirelessPowerGridMap2D)
   public:
    /** Constructor */
    CWirelessPowerGridMap2D(
        TMapRepresentation mapType = mrKernelDM, double x_min = -2,
        double x_max = 2, double y_min = -2, double y_max = 2,
        double resolution = 0.1);

    /** Destructor */
    virtual ~CWirelessPowerGridMap2D();

    /** Parameters related with inserting observations into the map:
      */
    struct TInsertionOptions : public mrpt::config::CLoadableOptions,
                               public TInsertionOptionsCommon
    {
        /** Default values loader */
        TInsertionOptions();

        void loadFromConfigFile(
            const mrpt::config::CConfigFileBase& source,
            const std::string& section) override;  // See base docs
        void dumpToTextStream(
            std::ostream& out) const override;  // See base docs

    } insertionOptions;

    /** Returns a 3D object representing the map  */
    void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;

   protected:
    /** Get the part of the options common to all CRandomFieldGridMap2D classes
     */
    virtual CRandomFieldGridMap2D::TInsertionOptionsCommon*
        getCommonInsertOptions() override
    {
        return &insertionOptions;
    }

    // See docs in derived class
    void internal_clear() override;
    bool internal_insertObservation(
        const mrpt::obs::CObservation* obs,
        const mrpt::poses::CPose3D* robotPose = nullptr) override;
    double internal_computeObservationLikelihood(
        const mrpt::obs::CObservation* obs,
        const mrpt::poses::CPose3D& takenFrom) override;

    MAP_DEFINITION_START(CWirelessPowerGridMap2D)
    /** See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D */
    double min_x, max_x, min_y, max_y, resolution;
    /** The kind of map representation (see
     * CWirelessPowerGridMap2D::CWirelessPowerGridMap2D) */
    mrpt::maps::CWirelessPowerGridMap2D::TMapRepresentation mapType;
    mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOpts;
    MAP_DEFINITION_END(CWirelessPowerGridMap2D)
};

}
#endif