class mrpt::maps::CWirelessPowerGridMap2D

Overview

CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.

There are a number of methods available to build the wifi grid-map, depending on the value of “TMapRepresentation maptype” passed in the constructor (see CRandomFieldGridMap2D for a discussion).

Update the map with insertIndividualReading() or insertObservation()

See also:

mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::containers::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap

#include <mrpt/maps/CWirelessPowerGridMap2D.h>

class CWirelessPowerGridMap2D:
    public mrpt::maps::CRandomFieldGridMap2D,
    public mrpt::config::OptionsCapable
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::maps ::CWirelessPowerGridMap2D> Ptr;
    typedef std::shared_ptr<const mrpt::maps ::CWirelessPowerGridMap2D> ConstPtr;
    typedef std::unique_ptr<mrpt::maps ::CWirelessPowerGridMap2D> UniquePtr;
    typedef std::unique_ptr<const mrpt::maps ::CWirelessPowerGridMap2D> ConstUniquePtr;
    typedef std::vector<TRandomFieldCell> grid_data_t;
    typedef typename grid_data_t::iterator iterator;
    typedef typename grid_data_t::const_iterator const_iterator;

    // enums

    enum TGridInterpolationMethod;

    // structs

    struct TInsertionOptions;
    struct TMapDefinition;
    struct TMapDefinitionBase;

    // fields

    static constexpr const char* className = "mrpt::maps" "::" "CWirelessPowerGridMap2D";
    static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CWirelessPowerGridMap2D,wifiGrid" ,& mrpt::maps::CWirelessPowerGridMap2D ::MapDefinition,& mrpt::maps::CWirelessPowerGridMap2D ::internal_CreateFromMapDefinition);
    mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions insertionOptions;

    // construction

    CWirelessPowerGridMap2D(
        TMapRepresentation mapType = mrKernelDM,
        double x_min = -2,
        double x_max = 2,
        double y_min = -2,
        double y_max = 2,
        double resolution = 0.1
        );

    // 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;
    static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition();
    static std::shared_ptr<CWirelessPowerGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    static std::shared_ptr<mrpt::maps::CMetricMap> internal_CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def);
    const grid_data_t& data() const;
    iterator begin();
    const_iterator begin() const;
    iterator end();
    const_iterator end() const;
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName();
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const;
    float cell2float(const TRandomFieldCell& c) const;
    void enableVerbose(] bool enable_verbose);
    bool isEnabledVerbose() const;
    void enableProfiler(bool enable = true);
    bool isProfilerEnabled() const;
    int y2idx(double y) const;

    int xy2idx(
        double x,
        double y
        ) const;

    double idx2y(int cy) const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CRandomFieldGridMap2D> Ptr;
    typedef std::shared_ptr<const CRandomFieldGridMap2D> ConstPtr;

    // structs

    struct TMsg;
    struct ConnectivityDescriptor;
    struct TInsertionOptionsCommon;
    struct TObservationGMRF;
    struct TPriorFactorGMRF;

    // methods

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    Visualizable& operator = (const Visualizable&);
    Visualizable& operator = (Visualizable&&);
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual bool isEmpty() const = 0;
    virtual void saveMetricMapRepresentationToFile(const std::string& filNamePrefix) const = 0;
    virtual std::string asString() const = 0;
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& o) const = 0;
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual void getVisualizationInto(mrpt::viz::CSetOfObjects& outObj) const;
    virtual void getAs3DObject(mrpt::viz::CSetOfObjects& meanObj, mrpt::viz::CSetOfObjects& varObj) const;
    OptionsCapable& operator = (const OptionsCapable&);
    OptionsCapable& operator = (OptionsCapable&&);
    virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName() = 0;

Typedefs

typedef std::shared_ptr<mrpt::maps ::CWirelessPowerGridMap2D> Ptr

A type for the associated smart pointer.

Fields

static const size_t m_private_map_register_id =   mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister("mrpt::maps::CWirelessPowerGridMap2D,wifiGrid" ,& mrpt::maps::CWirelessPowerGridMap2D ::MapDefinition,& mrpt::maps::CWirelessPowerGridMap2D ::internal_CreateFromMapDefinition)

ID used to initialize class registration (just ignore it)

Construction

CWirelessPowerGridMap2D(
    TMapRepresentation mapType = mrKernelDM,
    double x_min = -2,
    double x_max = 2,
    double y_min = -2,
    double y_max = 2,
    double resolution = 0.1
    )

Constructor.

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.

static std::shared_ptr<mrpt::maps::TMetricMapInitializer> MapDefinition()

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

static std::shared_ptr<CWirelessPowerGridMap2D> CreateFromMapDefinition(const mrpt::maps::TMetricMapInitializer& def)

Constructor from a map definition structure: initializes the map and * its parameters accordingly.

virtual std::map<std::string, mrpt::config::CLoadableOptions*> optionsByName()

Maps an options-group name (e.g.

“insertionOptions”) to a pointer to the corresponding, live CLoadableOptions member. Pointers remain valid as long as this is alive, and point directly to the actual option members (no copies), so writes through them (e.g. via loadFromConfigFile()) take effect immediately.

Implementations should list every CLoadableOptions member they define, INCLUDING “creationOptions” if present (so it can be discovered/exported generically); however, callers must use trySetCreationOptions(), not a direct write through this pointer, to safely modify creation options.

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

Returns a 3D object representing the map