MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Protected Member Functions | Private Member Functions
mrpt::maps::CMetricMap Class Referenceabstract
[mrpt-obs]

Detailed Description

Declares a virtual base class for all metric maps storage classes.

In this class virtual methods are provided to allow the insertion of any type of "CObservation" objects into the metric map, thus updating the map (doesn't matter if it is a 2D/3D grid, a point map, etc.).

Observations don't include any information about the robot pose, just the raw observation and information about the sensor pose relative to the robot mobile base coordinates origin.

Note that all metric maps implement this mrpt::system::CObservable interface, emitting the following events:

  • mrpt::obs::mrptEventMetricMapClear: Upon call of the clear() method.

mrpt::obs::mrptEventMetricMapInsert: Upon insertion of an observation that effectively modifies the map (e.g. inserting an image into a grid map will NOT raise an event, inserting a laser scan will).

To check what observations are supported by each metric map, see: Maps and observations compatibility matrix

Note
All derived class must implement a static class factory <metric_map_class>::MapDefinition() that builds a default TMetricMapInitializer [New in MRPT 1.3.0]
See also
CObservation, CSensoryFrame, CMultiMetricMap

Definition at line 54 of file CMetricMap.h.

#include <mrpt/maps/CMetricMap.h>

Inheritance diagram for mrpt::maps::CMetricMap:
Inheritance graph

Public Member Functions

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=NULL)
 Insert the observation information into this map. More...
 
bool insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
 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...
 
bool canComputeObservationLikelihood (const mrpt::obs::CObservation::Ptr &obs) const
 
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...
 
 CMetricMap ()
 Constructor. 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 saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const =0
 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...
 
virtual void getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const =0
 Returns a 3D object representing the map. 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::CSimplePointsMap * getAsSimplePointsMap () 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...
 
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap ()
 
virtual mxArray * writeToMatlab () 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 CObject * clone () 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
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 

Public Attributes

TMapGenericParams genericMapParams
 Common params to all maps. More...
 

Protected Member Functions

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 serializeFrom (CArchive &in, uint8_t serial_version)=0
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

Private Member Functions

virtual void internal_clear ()=0
 Internal method called by clear() More...
 
virtual bool internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)=0
 Internal method called by insertObservation() More...
 
virtual double internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)=0
 Internal method called by computeObservationLikelihood() More...
 
virtual bool internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
 Internal method called by canComputeObservationLikelihood() More...
 
virtual void OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *)
 Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More...
 

RTTI stuff

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

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::CMetricMap::ConstPtr = std::shared_ptr<const CMetricMap >

Definition at line 57 of file CMetricMap.h.

◆ Ptr

using mrpt::maps::CMetricMap::Ptr = std::shared_ptr< CMetricMap >

Definition at line 57 of file CMetricMap.h.

Constructor & Destructor Documentation

◆ CMetricMap()

CMetricMap::CMetricMap ( )

Constructor.

Definition at line 29 of file CMetricMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

◆ auxParticleFilterCleanUp()

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

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 288 of file CMetricMap.h.

◆ canComputeObservationLikelihood() [1/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation *  obs) const
virtual

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 180 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation::Ptr &  obs) const

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 121 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::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.

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

Parameters
sfThe observations.
See also
canComputeObservationLikelihood

Definition at line 86 of file CMetricMap.cpp.

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

◆ clear()

void CMetricMap::clear ( )

Erase all the contents of the map.

Definition at line 31 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CRandomFieldGridMap2D::setSize(), and mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping().

◆ 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_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, MyNS::Bar, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, MyNS::Foo, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, MyNS::Foo, and MyNS::MyDerived1.

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

◆ compute3DMatchingRatio()

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

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::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CBeaconMap, and mrpt::maps::CReflectivityGridMap2D.

Definition at line 157 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ computeObservationLikelihood() [1/2]

double CMetricMap::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.

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 189 of file CMetricMap.cpp.

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

◆ computeObservationLikelihood() [2/2]

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

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 77 of file CMetricMap.cpp.

◆ computeObservationsLikelihood()

double CMetricMap::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.

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 67 of file CMetricMap.cpp.

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

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

◆ determineMatching2D()

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

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::CMultiMetricMap, and mrpt::maps::CBeaconMap.

Definition at line 127 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ determineMatching3D()

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

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 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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

◆ duplicateGetSmartPtr()

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

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ getAs3DObject()

virtual void mrpt::maps::CMetricMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr &  outObj) const
pure virtual

Returns a 3D object representing the map.

See also
genericMapParams, TMapGenericParams::enableSaveAs3DObject

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CBeaconMap, mrpt::maps::COctoMapBase< octree_t, octree_node_t >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CColouredPointsMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, and mrpt::maps::CWirelessPowerGridMap2D.

◆ getAsSimplePointsMap() [1/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const
inlinevirtual

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 NULL

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 300 of file CMetricMap.h.

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

◆ getAsSimplePointsMap() [2/2]

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )
inlinevirtual

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 304 of file CMetricMap.h.

◆ GetRuntimeClass()

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CLandmarksMap, mrpt::maps::CPointsMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimplePointsMap, mrpt::maps::CWeightedPointsMap, and mrpt::maps::CColouredPointsMap.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_correlation(), mrpt::maps::CBeaconMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::compute3DMatchingRatio(), mrpt::maps::CLandmarksMap::computeMatchingWith2D(), mrpt::maps::CBeaconMap::determineMatching2D(), mrpt::maps::COccupancyGridMap2D::determineMatching2D(), mrpt::maps::CPointsMap::determineMatching3D(), mrpt::slam::CICP::ICP3D_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile().

◆ GetRuntimeClassIdStatic()

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

◆ 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().

◆ insertObservation()

bool CMetricMap::insertObservation ( const mrpt::obs::CObservation *  obs,
const mrpt::poses::CPose3D *  robotPose = NULL 
)

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 95 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().

◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr ( const mrpt::obs::CObservation::Ptr &  obs,
const mrpt::poses::CPose3D *  robotPose = NULL 
)

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

See: Maps and observations compatibility matrix

Definition at line 109 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

◆ internal_canComputeObservationLikelihood()

virtual bool mrpt::maps::CMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation *  obs) const
inlineprivatevirtual

Internal method called by canComputeObservationLikelihood()

Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.

Definition at line 73 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

◆ internal_clear()

virtual void mrpt::maps::CMetricMap::internal_clear ( )
privatepure virtual

Internal method called by clear()

Implemented in mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CColouredPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CColouredOctoMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWeightedPointsMap, mrpt::maps::CSimplePointsMap, mrpt::maps::COctoMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CLandmarksMap, mrpt::maps::CWirelessPowerGridMap2D, and mrpt::maps::CBeaconMap.

◆ internal_computeObservationLikelihood()

virtual double mrpt::maps::CMetricMap::internal_computeObservationLikelihood ( const mrpt::obs::CObservation *  obs,
const mrpt::poses::CPose3D &  takenFrom 
)
privatepure virtual

Internal method called by computeObservationLikelihood()

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::COctoMapBase< octree_t, octree_node_t >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, mrpt::maps::CMultiMetricMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, and mrpt::maps::CBeaconMap.

◆ internal_insertObservation()

virtual bool mrpt::maps::CMetricMap::internal_insertObservation ( const mrpt::obs::CObservation *  obs,
const mrpt::poses::CPose3D *  robotPose = NULL 
)
privatepure virtual

Internal method called by insertObservation()

Implemented in mrpt::maps::CPointsMap, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CColouredOctoMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CLandmarksMap, mrpt::maps::CWirelessPowerGridMap2D, and mrpt::maps::CBeaconMap.

◆ isEmpty()

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

Returns true if the map is empty/no observation has been inserted.

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CBeaconMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CColouredOctoMap, mrpt::maps::CReflectivityGridMap2D, and mrpt::maps::COctoMap.

Referenced by mrpt::slam::CICP::ICP_Method_Classic(), mrpt::slam::CICP::ICP_Method_LM(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ loadFromProbabilisticPosesAndObservations()

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

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 37 of file CMetricMap.cpp.

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

Referenced by loadFromSimpleMap(), and run_test_pf_localization().

◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap &  Map)
inline

!

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 108 of file CMetricMap.h.

References loadFromProbabilisticPosesAndObservations().

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

◆ OnPostSuccesfulInsertObs()

virtual void mrpt::maps::CMetricMap::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation *  )
inlineprivatevirtual

Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.

Reimplemented in mrpt::maps::COccupancyGridMap2D.

Definition at line 84 of file CMetricMap.h.

◆ 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 48 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().

◆ saveMetricMapRepresentationToFile()

virtual void mrpt::maps::CMetricMap::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix) const
pure virtual

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).

Implemented in mrpt::maps::COccupancyGridMap2D, mrpt::maps::CLandmarksMap, mrpt::maps::CMultiMetricMap, mrpt::maps::CPointsMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CBeaconMap, mrpt::maps::COctoMapBase< octree_t, octree_node_t >, mrpt::maps::COctoMapBase< octomap::ColorOcTree, octomap::ColorOcTreeNode >, mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >, mrpt::maps::CHeightGridMap2D, and mrpt::maps::CReflectivityGridMap2D.

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

◆ serializeFrom()

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_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.

◆ 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_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.

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

◆ serializeTo()

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_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.

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

◆ squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence ( float  x0,
float  y0 
) const
virtual

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 170 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 68 of file CSerializable.h.

Member Data Documentation

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

Common params to all maps.

Definition at line 280 of file CMetricMap.h.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), mrpt::maps::CPointsMap::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CReflectivityGridMap2D::serializeFrom(), mrpt::maps::CHeightGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), mrpt::maps::CReflectivityGridMap2D::serializeTo(), and mrpt::maps::CHeightGridMap2D::serializeTo().

◆ runtimeClassId

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

Definition at line 57 of file CMetricMap.h.



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