CGasConcentrationGridMap2D.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef CGasConcentrationGridMap2D_H
#define CGasConcentrationGridMap2D_H
 
#include <mrpt/maps/CRandomFieldGridMap2D.h>
#include <mrpt/obs/CObservationGasSensors.h>
 
namespace mrpt
{
namespace maps
{
/** CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D
 * area.
  *
  *  There are a number of methods available to build the gas grid-map,
 * depending on the value of
  *    "TMapRepresentation maptype" passed in the constructor (see base class
 * mrpt::maps::CRandomFieldGridMap2D).
  *
  * Update the map with insertIndividualReading() or insertObservation()
  *
  * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap,
 * mrpt::containers::CDynamicGrid, The application icp-slam,
 * mrpt::maps::CMultiMetricMap
  * \ingroup mrpt_maps_grp
  */
class CGasConcentrationGridMap2D : public CRandomFieldGridMap2D
{
        DEFINE_SERIALIZABLE(CGasConcentrationGridMap2D)
   public:
        /** Constructor
          */
        CGasConcentrationGridMap2D(
                TMapRepresentation mapType = mrAchim, float x_min = -2, float x_max = 2,
                float y_min = -2, float y_max = 2, float resolution = 0.1);
 
        /** Destructor */
        virtual ~CGasConcentrationGridMap2D();
 
        /** Parameters related with inserting observations into the map:
          */
        struct TInsertionOptions : public mrpt::config::CLoadableOptions,
                                                           public TInsertionOptionsCommon
        {
                /** Default values loader */
                TInsertionOptions();
 
                void loadFromConfigFile(
                        const mrpt::config::CConfigFileBase& source,
                        const std::string& section) override;  // See base docs
                void dumpToTextStream(
                        std::ostream& out) const override;  // See base docs
 
                /** @name For all mapping methods
                        @{ */
                /** The label of the CObservationGasSensor used to generate the map */
                std::string gasSensorLabel;
                /** id for the enose used to generate this map (must be < gasGrid_count)
                 */
                uint16_t enose_id;
                /** The sensor type for the gas concentration map (0x0000 ->mean of all
                 * installed sensors, 0x2600, 0x6810, ...) */
                uint16_t gasSensorType;
                /** The label of the WindSenor used to simulate advection */
                std::string windSensorLabel;
 
                //[Advection Options]
                bool useWindInformation;  //! Indicates if wind information must be used
                //! to simulate Advection
                float advectionFreq;  //! Frequency for simulating advection (only used
                //! to transform wind speed to distance)
                float std_windNoise_phi, std_windNoise_mod;  //! The std to consider on
                //! wind information
                //! measurements
                float default_wind_direction,
                        default_wind_speed;  //! The default value for the wind information
 
                /** @} */
 
        } insertionOptions;
 
        /** Returns a 3D object representing the map */
        virtual void getAs3DObject(
                mrpt::opengl::CSetOfObjects::Ptr& outObj) const override;
 
        /** Returns two 3D objects representing the mean and variance maps */
        virtual void getAs3DObject(
                mrpt::opengl::CSetOfObjects::Ptr& meanObj,
                mrpt::opengl::CSetOfObjects::Ptr& varObj) const override;
 
        /** Returns the 3D object representing the wind grid information */
        void getWindAs3DObject(mrpt::opengl::CSetOfObjects::Ptr& windObj) const;
 
        /** Increase the kf_std of all cells from the m_map
        *       This mehod is usually called by the main_map to simulate loss of
        *confidence in measurements when time passes */
        virtual void increaseUncertainty(const double STD_increase_value);
 
        /** Implements the transition model of the gasConcentration map using the
         * information of the wind maps  */
        bool simulateAdvection(const double& STD_increase_value);
 
        // Params for the estimation of the gaussian volume in a cell.
        struct TGaussianCell
        {
                int cx;  // x-index of the cell
                int cy;  // y-index of the cell
                float value;  // volume approximation
        };
 
        // Params for the estimation of the wind effect on each cell of the grid
        struct TGaussianWindTable
        {
                // Fixed params
                float resolution;  // Cell_resolution. To be read from config-file
                float std_phi;  // to be read from config-file
                float std_r;  // to be read from config-file
 
                // unsigned int subcell_count; //subcell_count x subcell_count  subcells
                // float subcell_res;
                float phi_inc;  // rad
                unsigned int phi_count;
                float r_inc;  // m
                float max_r;  // maximum distance (m)
                unsigned int r_count;
 
                std::vector<std::vector<std::vector<TGaussianCell>>>* table;
        } LUT;
 
   protected:
        /** Get the part of the options common to all CRandomFieldGridMap2D classes
         */
        virtual CRandomFieldGridMap2D::TInsertionOptionsCommon*
                getCommonInsertOptions() override
        {
                return &insertionOptions;
        }
 
        // See docs in base class
        void internal_clear() override;
        bool internal_insertObservation(
                const mrpt::obs::CObservation* obs,
                const mrpt::poses::CPose3D* robotPose = nullptr) override;
        double internal_computeObservationLikelihood(
                const mrpt::obs::CObservation* obs,
                const mrpt::poses::CPose3D& takenFrom) override;
 
        /** Builds a LookUp table with the values of the Gaussian Weights result of
        * the wind advection
        *   for a specific std_windNoise_phi value.
        */
        bool build_Gaussian_Wind_Grid();
 
        bool save_Gaussian_Wind_Grid_To_File();
        bool load_Gaussian_Wind_Grid_From_File();
 
        /** Gridmaps of the wind Direction/Module */
        mrpt::containers::CDynamicGrid<double> windGrid_module, windGrid_direction;
 
        /** The timestamp of the last time the advection simulation was executed */
        mrpt::system::TTimeStamp timeLastSimulated;
 
        MAP_DEFINITION_START(CGasConcentrationGridMap2D)
        /** See CGasConcentrationGridMap2D::CGasConcentrationGridMap2D */
        float min_x, max_x, min_y, max_y, resolution;
        /** The kind of map representation (see
         * CGasConcentrationGridMap2D::CGasConcentrationGridMap2D) */
        mrpt::maps::CGasConcentrationGridMap2D::TMapRepresentation mapType;
        /** Observations insertion options */
        mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions insertionOpts;
        MAP_DEFINITION_END(CGasConcentrationGridMap2D)
};
 
}  // End of namespace
 
}  // End of namespace
 
#endif