class mrpt::maps::CLandmarksMap

Overview

A minimal landmarks map: a container of CLandmark objects.

This is a simplified version for MRPT v3.0, retaining only the functionality needed and removing the computer vision part.

#include <mrpt/maps/CLandmarksMap.h>

class CLandmarksMap: public mrpt::maps::CMetricMap
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CLandmarksMap> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CLandmarksMap> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CLandmarksMap> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CLandmarksMap> ConstUniquePtr;
    typedef CLandmark landmark_type;

    // structs

    struct TLandmarksList;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CLandmarksMap";
    TLandmarksList landmarks;

    // construction

    CLandmarksMap();

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;

    void simulateRangeBearingReadings(
        const mrpt::poses::CPose3D& robotPose,
        const mrpt::poses::CPose3D& sensorOnRobot,
        mrpt::obs::CObservationBearingRange& obs,
        bool sensorDistinguishesLandmarks = true,
        double sigmaRange = 0,
        double sigmaYaw = 0,
        double sigmaPitch = 0,
        std::vector<size_t>* out_indices = nullptr,
        double spuriousMean = 0,
        double spuriousStd = 0
        ) const;

    size_t size() const;
    virtual bool isEmpty() const;
    virtual std::string asString() const;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CMetricMap> Ptr;
    typedef std::shared_ptr<const CMetricMap> ConstPtr;

    // fields

    TMapGenericParams genericMapParams;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual std::string asString() const = 0;
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    std::shared_ptr<mrpt::viz::CSetOfObjects> getVisualization() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void clear();
    virtual bool isEmpty() const = 0;
    virtual auto boundingBox() const;
    void loadFromSimpleMap(const mrpt::maps::CSimpleMap& Map);
    bool insertObservation(const mrpt::obs::CObservation& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    bool insertObservationPtr(const mrpt::obs::CObservation::Ptr& obs, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt);
    double computeObservationLikelihood(const mrpt::obs::CObservation& obs, const mrpt::poses::CPose3D& takenFrom) const;
    virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation& obs) const;
    double computeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf, const mrpt::poses::CPose3D& takenFrom);
    bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame& sf) const;

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

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

    virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap* otherMap, const mrpt::poses::CPose3D& otherMapPose, const TMatchingRatioParams& params) const;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual void auxParticleFilterCleanUp();
    virtual float squareDistanceToClosestCorrespondence(float x0, float y0) const;

Typedefs

typedef std::shared_ptr<mrpt::maps ::CLandmarksMap> Ptr

A type for the associated smart pointer.

Methods

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

Returns information about the class of an object in runtime.

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

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

void simulateRangeBearingReadings(
    const mrpt::poses::CPose3D& robotPose,
    const mrpt::poses::CPose3D& sensorOnRobot,
    mrpt::obs::CObservationBearingRange& obs,
    bool sensorDistinguishesLandmarks = true,
    double sigmaRange = 0,
    double sigmaYaw = 0,
    double sigmaPitch = 0,
    std::vector<size_t>* out_indices = nullptr,
    double spuriousMean = 0,
    double spuriousStd = 0
    ) const

Simulate a range-bearing sensor observation from this landmark map.

Parameters:

robotPose	Global pose of the robot.
sensorOnRobot	Pose of the sensor relative to the robot.
obs	Output observation (sensedData will be filled). obs.fieldOfView_yaw, maxSensorDistance, minSensorDistance must be set by the caller.
sensorDistinguishesLandmarks	If true, each observation has the actual landmark ID; if false, they are all set to -1.
sigmaRange	Noise standard deviation for range (meters).
sigmaYaw	Noise standard deviation for yaw (radians).
sigmaPitch	Noise standard deviation for pitch (radians, use 0 for 2D).
out_indices	If non-null, stores the GT landmark index for each observation; spurious detections get index std::string::npos.
spuriousMean	Mean number of spurious detections.
spuriousStd	Std of the number of spurious detections.

virtual bool isEmpty() const

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

virtual std::string asString() const

Returns a human-friendly textual description of the object.

For classes with a large/complex internal state, only a summary should be returned instead of the exhaustive enumeration of all data members.

virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const

Inserts 3D primitives representing this object into the provided container.

Note that the former contents of o are not cleared.