mrpt::maps::CRandomFieldGridMap3D Class Reference

Detailed Description

CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class.

This class implements a Gaussian Markov Random Field (GMRF) estimator, with each voxel being connected to its 6 immediate neighbors (Up, down, left, right, front, back).

• See papers:
  • "Time-variant gas distribution mapping with obstacle information", Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.

Note that this class does not derive from mrpt::maps::CMetricMap since the estimated values do not have sensor-especific semantics, i.e. the grid can be used to estimate temperature, gas concentration, etc.

Usage:

• Define grid size with either constructor or via setSize().
• Initialize the map with initialize(). This resets the contents of the map, so previously-added observations will be lost.
• Add observations of 3D voxels with insertIndividualReading()

Custom connectivity patterns can be defined with setVoxelsConnectivity().

See also

mrpt::maps::CRandomFieldGridMap3D

Note

[New in MRPT 1.5.0]

Definition at line 76 of file CRandomFieldGridMap3D.h.

#include <mrpt/maps/CRandomFieldGridMap3D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap3D:

Classes
struct	ConnectivityDescriptor
	Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph. More...
struct	TInsertionOptions
	Parameters common to any derived class. More...
struct	TObservationGMRF
struct	TPriorFactorGMRF

Public Types
enum	TVoxelInterpolationMethod { gimNearest = 0, gimBilinear }

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) noexcept
void	operator delete[] (void *ptr) noexcept
void	operator delete (void *memory, void *ptr) noexcept
void *	operator new (size_t size, const std::nothrow_t &) noexcept
void	operator delete (void *ptr, const std::nothrow_t &) noexcept
	CRandomFieldGridMap3D (double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double z_min=-2, double z_max=2, double voxel_size=0.5, bool call_initialize_now=true)
	Constructor. More...
void	clear () override
	Erases all added observations and start again with an empty gridmap. More...
bool	saveAsCSV (const std::string &filName_mean, const std::string &filName_stddev=std::string()) const
	Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value. More...
bool	saveAsVtkStructuredGrid (const std::string &fil) const
	Save the current estimated grid to a VTK file (.vts) as a "structured grid". More...
virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewvoxels, double additionalMarginMeters=2.0) override
	Changes the size of the grid, maintaining previous contents. More...
virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z=-1.0, const TRandomFieldVoxel *fill_value=nullptr) override
	Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy More...
void	setVoxelsConnectivity (const ConnectivityDescriptor::Ptr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between voxels. More...
bool	insertIndividualReading (const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D &point, const TVoxelInterpolationMethod method, const bool update_map)
	Direct update of the map with a reading in a given position of the map. More...
void	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions. More...
void	getAsVtkStructuredGrid (vtkStructuredGrid *output, const std::string &label_mean=std::string("mean"), const std::string &label_stddev=std::string("stddev")) const
	Returns the 3D grid contents as an VTK grid. More...
virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...
virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z_=-1.0, const TRandomFieldVoxel *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...
void	fill (const TRandomFieldVoxel &value)
	Fills all the cells with the same value. More...
size_t	cellAbsIndexFromCXCYCZ (const int cx, const int cy, const int cz) const
	Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). More...
TRandomFieldVoxel *	cellByPos (double x, double y, double z)
	Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions. More...
const TRandomFieldVoxel *	cellByPos (double x, double y, double z) const
TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz)
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...
const TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz) const
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...
size_t	getSizeX () const
size_t	getSizeY () const
size_t	getSizeZ () const
size_t	getVoxelCount () const
double	getXMin () const
double	getXMax () const
double	getYMin () const
double	getYMax () const
double	getZMin () const
double	getZMax () const
double	getResolutionXY () const
double	getResolutionZ () const
int	x2idx (double x) const
	Transform a coordinate values into voxel indexes. More...
int	y2idx (double y) const
int	z2idx (double z) const
double	idx2x (int cx) const
	Transform a voxel index into a coordinate value of the voxel central point. More...
double	idx2y (int cy) const
double	idx2z (int cz) const
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...
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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
TInsertionOptions	insertionOptions

Static Public Attributes
static bool	ENABLE_GMRF_PROFILER
	[default:false] Enables a profiler to show a performance report at application end. More...
static const size_t	INVALID_VOXEL_IDX

Protected Member Functions
void	internal_initialize (bool erase_prev_contents=true)
	Internal: called called after each change of resolution, size, etc. More...
std::vector< TRandomFieldVoxel > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...
void	dyngridcommon_writeToStream (ARCHIVE &out) const
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...
void	dyngridcommon_readFromStream (ARCHIVE &in)
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

Protected Attributes
ConnectivityDescriptor::Ptr	m_gmrf_connectivity
	Empty: default. More...
mrpt::graphs::ScalarFactorGraph	m_gmrf
std::vector< std::deque< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information, for each map cell. More...
std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...
std::vector< TRandomFieldVoxel >	m_map
	The cells. More...
double	m_x_min
double	m_x_max
double	m_y_min
double	m_y_max
double	m_z_min
double	m_z_max
double	m_resolution_xy
double	m_resolution_z
size_t	m_size_x
size_t	m_size_y
size_t	m_size_z
size_t	m_size_x_times_y
VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Types
using	BASE = mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >

RTTI stuff
using	Ptr = std::shared_ptr< CRandomFieldGridMap3D >
using	ConstPtr = std::shared_ptr< const CRandomFieldGridMap3D >
using	UniquePtr = std::unique_ptr< CRandomFieldGridMap3D >
using	ConstUniquePtr = std::unique_ptr< const CRandomFieldGridMap3D >
static mrpt::rtti::CLASSINIT	_init_CRandomFieldGridMap3D
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CRandomFieldGridMap3D"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static mrpt::rtti::CObject *	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Logging methods
bool	logging_enable_console_output
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=NULL) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Typedef Documentation

BASE

using mrpt::maps::CRandomFieldGridMap3D::BASE = mrpt::containers::CDynamicGrid3D<TRandomFieldVoxel>

private

Definition at line 81 of file CRandomFieldGridMap3D.h.

ConstPtr

using mrpt::maps::CRandomFieldGridMap3D::ConstPtr = std::shared_ptr<const CRandomFieldGridMap3D >

Definition at line 83 of file CRandomFieldGridMap3D.h.

ConstUniquePtr

using mrpt::maps::CRandomFieldGridMap3D::ConstUniquePtr = std::unique_ptr<const CRandomFieldGridMap3D >

Definition at line 83 of file CRandomFieldGridMap3D.h.

Ptr

using mrpt::maps::CRandomFieldGridMap3D::Ptr = std::shared_ptr< CRandomFieldGridMap3D >

A type for the associated smart pointer

Definition at line 83 of file CRandomFieldGridMap3D.h.

UniquePtr

using mrpt::maps::CRandomFieldGridMap3D::UniquePtr = std::unique_ptr< CRandomFieldGridMap3D >

Definition at line 83 of file CRandomFieldGridMap3D.h.

Member Enumeration Documentation

TVoxelInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod

Enumerator
gimNearest
gimBilinear

Definition at line 200 of file CRandomFieldGridMap3D.h.

Constructor & Destructor Documentation

CRandomFieldGridMap3D()

CRandomFieldGridMap3D::CRandomFieldGridMap3D	(	double	x_min = -2,
		double	x_max = 2,
		double	y_min = -2,
		double	y_max = 2,
		double	z_min = -2,
		double	z_max = 2,
		double	voxel_size = 0.5,
		bool	call_initialize_now = true
	)

Constructor.

If you set call_initialize_now to false, the object will be initialized immediately (without the heavy initialization of the GMRF), but you then must call setSize() or clear() later to properly initialize the object before using it to insert observations.

Definition at line 39 of file CRandomFieldGridMap3D.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::_GetBaseClass ( )

staticprotected

cellAbsIndexFromCXCYCZ()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ ( const int  cx, const int  cy, const int  cz  ) const

inlineinherited

Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension).

See also

x2idx(), y2idx(), z2idx()

Definition at line 230 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::containers::CDynamicGrid3D< T >::m_size_x, mrpt::containers::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::containers::CDynamicGrid3D< T >::m_size_y, and mrpt::containers::CDynamicGrid3D< T >::m_size_z.

Referenced by insertIndividualReading().

cellByIndex() [1/2]

TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex ( unsigned int  cx, unsigned int  cy, unsigned int  cz  )

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 264 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::containers::CDynamicGrid3D< T >::m_map.

cellByIndex() [2/2]

const TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex ( unsigned int  cx, unsigned int  cy, unsigned int  cz  ) const

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 274 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, and mrpt::containers::CDynamicGrid3D< T >::m_map.

cellByPos() [1/2]

TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos ( double  x, double  y, double  z  )

inlineinherited

Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 245 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::containers::CDynamicGrid3D< T >::m_map, mrpt::containers::CDynamicGrid3D< T >::x2idx(), mrpt::containers::CDynamicGrid3D< T >::y2idx(), and mrpt::containers::CDynamicGrid3D< T >::z2idx().

cellByPos() [2/2]

const TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos ( double  x, double  y, double  z  ) const

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 253 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< T >::INVALID_VOXEL_IDX, mrpt::containers::CDynamicGrid3D< T >::m_map, mrpt::containers::CDynamicGrid3D< T >::x2idx(), mrpt::containers::CDynamicGrid3D< T >::y2idx(), and mrpt::containers::CDynamicGrid3D< T >::z2idx().

clear()

void CRandomFieldGridMap3D::clear ( )

overridevirtual

Erases all added observations and start again with an empty gridmap.

Reimplemented from mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >.

Definition at line 83 of file CRandomFieldGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< T >::clear().

clone()

virtual mrpt::rtti::CObject* mrpt::maps::CRandomFieldGridMap3D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

Create()

template<typename... Args>

static Ptr mrpt::maps::CRandomFieldGridMap3D::Create ( Args &&...  args )

inlinestatic

Definition at line 83 of file CRandomFieldGridMap3D.h.

CreateObject()

static mrpt::rtti::CObject* mrpt::maps::CRandomFieldGridMap3D::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CRandomFieldGridMap3D::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 83 of file CRandomFieldGridMap3D.h.

dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

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().

dyngridcommon_readFromStream()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream ( ARCHIVE &  in )

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 336 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_map, mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, mrpt::containers::CDynamicGrid3D< T >::m_size_x, mrpt::containers::CDynamicGrid3D< T >::m_size_y, mrpt::containers::CDynamicGrid3D< T >::m_size_z, mrpt::containers::CDynamicGrid3D< T >::m_x_max, mrpt::containers::CDynamicGrid3D< T >::m_x_min, mrpt::containers::CDynamicGrid3D< T >::m_y_max, mrpt::containers::CDynamicGrid3D< T >::m_y_min, mrpt::containers::CDynamicGrid3D< T >::m_z_max, and mrpt::containers::CDynamicGrid3D< T >::m_z_min.

Referenced by serializeFrom().

dyngridcommon_writeToStream()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream ( ARCHIVE &  out ) const

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 325 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, mrpt::containers::CDynamicGrid3D< T >::m_size_x, mrpt::containers::CDynamicGrid3D< T >::m_size_y, mrpt::containers::CDynamicGrid3D< T >::m_size_z, mrpt::containers::CDynamicGrid3D< T >::m_x_max, mrpt::containers::CDynamicGrid3D< T >::m_x_min, mrpt::containers::CDynamicGrid3D< T >::m_y_max, mrpt::containers::CDynamicGrid3D< T >::m_y_min, mrpt::containers::CDynamicGrid3D< T >::m_z_max, and mrpt::containers::CDynamicGrid3D< T >::m_z_min.

Referenced by serializeTo().

fill()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::fill ( const TRandomFieldVoxel &  value )

inlineinherited

Fills all the cells with the same value.

Definition at line 218 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_map.

getAsVtkStructuredGrid()

void CRandomFieldGridMap3D::getAsVtkStructuredGrid	(	vtkStructuredGrid *	output,
		const std::string &	label_mean = std::string("mean"),
		const std::string &	label_stddev = std::string("stddev")
	)		const

Returns the 3D grid contents as an VTK grid.

Definition at line 443 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by saveAsVtkStructuredGrid().

getClassName()

static constexpr auto mrpt::maps::CRandomFieldGridMap3D::getClassName ( )

inlinestatic

Definition at line 83 of file CRandomFieldGridMap3D.h.

getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

getResolutionXY()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionXY ( ) const

inlineinherited

Definition at line 292 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy.

getResolutionZ()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionZ ( ) const

inlineinherited

Definition at line 293 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_z.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClassIdStatic ( )

static

getSizeX()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX ( ) const

inlineinherited

Definition at line 282 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_size_x.

Referenced by getAsVtkStructuredGrid().

getSizeY()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY ( ) const

inlineinherited

Definition at line 283 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_size_y.

Referenced by getAsVtkStructuredGrid().

getSizeZ()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ ( ) const

inlineinherited

Definition at line 284 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_size_z.

Referenced by getAsVtkStructuredGrid().

getVoxelCount()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getVoxelCount ( ) const

inlineinherited

Definition at line 285 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_size_x_times_y, and mrpt::containers::CDynamicGrid3D< T >::m_size_z.

getXMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getXMax ( ) const

inlineinherited

Definition at line 287 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_x_max.

getXMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getXMin ( ) const

inlineinherited

Definition at line 286 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_x_min.

getYMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getYMax ( ) const

inlineinherited

Definition at line 289 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_y_max.

getYMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getYMin ( ) const

inlineinherited

Definition at line 288 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_y_min.

getZMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getZMax ( ) const

inlineinherited

Definition at line 291 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_z_max.

getZMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getZMin ( ) const

inlineinherited

Definition at line 290 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_z_min.

idx2x()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2x ( int  cx ) const

inlineinherited

Transform a voxel index into a coordinate value of the voxel central point.

Definition at line 310 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::containers::CDynamicGrid3D< T >::m_x_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

idx2y()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2y ( int  cy ) const

inlineinherited

Definition at line 311 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::containers::CDynamicGrid3D< T >::m_y_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

idx2z()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2z ( int  cz ) const

inlineinherited

Definition at line 312 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, and mrpt::containers::CDynamicGrid3D< T >::m_z_min.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

insertIndividualReading()

bool CRandomFieldGridMap3D::insertIndividualReading	(	const double	sensorReading,
		const double	sensorVariance,
		const mrpt::math::TPoint3D &	point,
		const TVoxelInterpolationMethod	method,
		const bool	update_map
	)

Direct update of the map with a reading in a given position of the map.

Returns

false if point is out of the grid extension.

Parameters

[in]	sensorReading	The value observed in the (x,y,z) position
[in]	sensorVariance	The variance of the sensor observation
[in]	point	The (x,y,z) location
[in]	method	Voxel interpolation method: how many voxels will be affected by the reading
[in]	update_map	Run a global map update after inserting this observation (algorithm-dependant)

Definition at line 340 of file CRandomFieldGridMap3D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_ABOVE_, ASSERTMSG_, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::Lambda, m_gmrf, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, MRPT_END, MRPT_START, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::obsValue, updateMapEstimation(), mrpt::math::TPoint3D::x, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::x2idx(), mrpt::math::TPoint3D::y, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::y2idx(), mrpt::math::TPoint3D::z, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::z2idx().

Referenced by TEST().

internal_initialize()

void CRandomFieldGridMap3D::internal_initialize ( bool  erase_prev_contents = true )

protected

Internal: called called after each change of resolution, size, etc.

to build the prior factor information

Definition at line 89 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERT_EQUAL_, dir, fill(), mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation(), mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF::Lambda, MRPT_LOG_DEBUG_STREAM, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j, mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 290 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 277 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, const std::string &  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

m_map_castaway_const()

std::vector<TRandomFieldVoxel >& mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map_castaway_const ( ) const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 318 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_map.

operator delete() [1/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  memory, void *  ptr  )

inlinenoexcept

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator delete() [2/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  ptr, const std::nothrow_t &    )

inlinenoexcept

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator delete() [3/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void *  ptr )

inlinenoexcept

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator delete[]()

void mrpt::maps::CRandomFieldGridMap3D::operator delete[] ( void *  ptr )

inlinenoexcept

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator new() [1/3]

static void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator new() [2/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size )

inline

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator new() [3/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t  size, const std::nothrow_t &    )

inlinenoexcept

Definition at line 83 of file CRandomFieldGridMap3D.h.

operator new[]()

void* mrpt::maps::CRandomFieldGridMap3D::operator new[] ( size_t  size )

inline

Definition at line 83 of file CRandomFieldGridMap3D.h.

resize() [1/2]

virtual void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, double  new_z_min, double  new_z_max, const TRandomFieldVoxel &  defaultValueNewCells, double  additionalMarginMeters = 2.0  )

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 43 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_map, mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, mrpt::containers::CDynamicGrid3D< T >::m_size_x, mrpt::containers::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::containers::CDynamicGrid3D< T >::m_size_y, mrpt::containers::CDynamicGrid3D< T >::m_size_z, mrpt::containers::CDynamicGrid3D< T >::m_x_max, mrpt::containers::CDynamicGrid3D< T >::m_x_min, mrpt::containers::CDynamicGrid3D< T >::m_y_max, mrpt::containers::CDynamicGrid3D< T >::m_y_min, mrpt::containers::CDynamicGrid3D< T >::m_z_max, mrpt::containers::CDynamicGrid3D< T >::m_z_min, and mrpt::round().

Referenced by resize().

resize() [2/2]

void CRandomFieldGridMap3D::resize ( double  new_x_min, double  new_x_max, double  new_y_min, double  new_y_max, double  new_z_min, double  new_z_max, const TRandomFieldVoxel &  defaultValueNewvoxels, double  additionalMarginMeters = 2.0  )

overridevirtual

Changes the size of the grid, maintaining previous contents.

See also

setSize

Definition at line 67 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::resize().

Referenced by TEST().

saveAsCSV()

bool mrpt::maps::CRandomFieldGridMap3D::saveAsCSV	(	const std::string &	filName_mean,
		const std::string &	filName_stddev = std::string()
	)		const

Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value.

Optionally, std deviations can be also saved to another file with fields x y z stddev_value, if filName_stddev is provided.

Returns

false on error writing to file

See also

saveAsVtkStructuredGrid

Definition at line 254 of file CRandomFieldGridMap3D.cpp.

References mrpt::format(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y.

Referenced by TEST().

saveAsVtkStructuredGrid()

bool CRandomFieldGridMap3D::saveAsVtkStructuredGrid

(

const std::string &

fil

)

const

Save the current estimated grid to a VTK file (.vts) as a "structured grid".

See also

saveAsCSV

Definition at line 223 of file CRandomFieldGridMap3D.cpp.

References getAsVtkStructuredGrid(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by TEST().

serializeFrom()

void CRandomFieldGridMap3D::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The 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::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 408 of file CRandomFieldGridMap3D.cpp.

References ASSERT_EQUAL_, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

serializeGetVersion()

uint8_t CRandomFieldGridMap3D::serializeGetVersion ( ) const

overrideprotectedvirtual

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.

Implements mrpt::serialization::CSerializable.

Definition at line 381 of file CRandomFieldGridMap3D.cpp.

serializeTo()

void CRandomFieldGridMap3D::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 382 of file CRandomFieldGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, and mrpt::serialization::CArchive::WriteBuffer().

setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

setSize() [1/2]

void CRandomFieldGridMap3D::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  z_min, const double  z_max, const double  resolution_xy, const double  resolution_z = -1.0, const TRandomFieldVoxel *  fill_value = nullptr  )

overridevirtual

Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

Changes the size of the grid, erasing previous contents.

See also

resize.

Definition at line 51 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and setSize().

Referenced by TEST().

setSize() [2/2]

virtual void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::setSize ( const double  x_min, const double  x_max, const double  y_min, const double  y_max, const double  z_min, const double  z_max, const double  resolution_xy, const double  resolution_z_ = -1.0, const TRandomFieldVoxel *  fill_value = nullptr  )

inlinevirtualinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default voxel value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing. If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

See also

resize, fill

Definition at line 170 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_map, mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, mrpt::containers::CDynamicGrid3D< T >::m_size_x, mrpt::containers::CDynamicGrid3D< T >::m_size_x_times_y, mrpt::containers::CDynamicGrid3D< T >::m_size_y, mrpt::containers::CDynamicGrid3D< T >::m_size_z, mrpt::containers::CDynamicGrid3D< T >::m_x_max, mrpt::containers::CDynamicGrid3D< T >::m_x_min, mrpt::containers::CDynamicGrid3D< T >::m_y_max, mrpt::containers::CDynamicGrid3D< T >::m_y_min, mrpt::containers::CDynamicGrid3D< T >::m_z_max, mrpt::containers::CDynamicGrid3D< T >::m_z_min, and mrpt::round().

setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

setVoxelsConnectivity()

void mrpt::maps::CRandomFieldGridMap3D::setVoxelsConnectivity

(

const ConnectivityDescriptor::Ptr &

new_connectivity_descriptor

)

Sets a custom object to define the connectivity between voxels.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 334 of file CRandomFieldGridMap3D.cpp.

References m_gmrf_connectivity.

updateMapEstimation()

void CRandomFieldGridMap3D::updateMapEstimation

(

)

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions.

Definition at line 310 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERTMSG_, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, m_gmrf, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by insertIndividualReading(), and TEST().

writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = NULL ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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.

x2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::x2idx ( double  x ) const

inlineinherited

Transform a coordinate values into voxel indexes.

Definition at line 295 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::containers::CDynamicGrid3D< T >::m_x_min.

Referenced by insertIndividualReading().

y2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::y2idx ( double  y ) const

inlineinherited

Definition at line 299 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_xy, and mrpt::containers::CDynamicGrid3D< T >::m_y_min.

Referenced by insertIndividualReading().

z2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::z2idx ( double  z ) const

inlineinherited

Definition at line 303 of file CDynamicGrid3D.h.

References mrpt::containers::CDynamicGrid3D< T >::m_resolution_z, and mrpt::containers::CDynamicGrid3D< T >::m_z_min.

Referenced by insertIndividualReading().

Member Data Documentation

_init_CRandomFieldGridMap3D

mrpt::rtti::CLASSINIT mrpt::maps::CRandomFieldGridMap3D::_init_CRandomFieldGridMap3D

staticprotected

Definition at line 83 of file CRandomFieldGridMap3D.h.

className

constexpr const char* mrpt::maps::CRandomFieldGridMap3D::className = "CRandomFieldGridMap3D"

static

Definition at line 83 of file CRandomFieldGridMap3D.h.

ENABLE_GMRF_PROFILER

bool mrpt::maps::CRandomFieldGridMap3D::ENABLE_GMRF_PROFILER

static

[default:false] Enables a profiler to show a performance report at application end.

Definition at line 87 of file CRandomFieldGridMap3D.h.

insertionOptions

TInsertionOptions mrpt::maps::CRandomFieldGridMap3D::insertionOptions

See also

updateMapEstimation()

Definition at line 150 of file CRandomFieldGridMap3D.h.

Referenced by serializeFrom(), serializeTo(), TEST(), and updateMapEstimation().

INVALID_VOXEL_IDX

const size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX

staticinherited

Definition at line 225 of file CDynamicGrid3D.h.

Referenced by insertIndividualReading().

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

m_gmrf

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap3D::m_gmrf

protected

Definition at line 242 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

m_gmrf_connectivity

ConnectivityDescriptor::Ptr mrpt::maps::CRandomFieldGridMap3D::m_gmrf_connectivity

protected

Empty: default.

Definition at line 240 of file CRandomFieldGridMap3D.h.

Referenced by setVoxelsConnectivity().

m_map

std::vector<TRandomFieldVoxel > mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map

mutableprotectedinherited

The cells.

Definition at line 315 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), insertIndividualReading(), saveAsCSV(), serializeFrom(), serializeTo(), and updateMapEstimation().

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

m_mrf_factors_activeObs

std::vector<std::deque<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_activeObs

protected

Vector with the active observations and their respective Information, for each map cell.

Definition at line 286 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

m_mrf_factors_priors

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_priors

protected

Vector with the precomputed priors for each GMRF model.

Definition at line 288 of file CRandomFieldGridMap3D.h.

m_resolution_xy

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_xy

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_resolution_z

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_z

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_size_x

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

m_size_x_times_y

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x_times_y

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

m_size_y

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

Referenced by getAsVtkStructuredGrid(), and saveAsCSV().

m_size_z

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_z

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

m_x_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_x_max

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_x_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_x_min

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_y_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_y_max

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_y_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_y_min

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_z_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_z_max

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

m_z_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_z_min

protectedinherited

Definition at line 319 of file CDynamicGrid3D.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CRandomFieldGridMap3D::runtimeClassId

staticprotected

Definition at line 83 of file CRandomFieldGridMap3D.h.