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10 #ifndef CHeightGridMap2D_MRF_MRF_H
11 #define CHeightGridMap2D_MRF_MRF_H
44 double x_max = 2,
double y_min = -2,
double y_max = 2,
45 double resolution = 0.5,
48 bool run_first_map_estimation_now =
true);
61 std::ostream& out)
const override;
74 const double x,
const double y,
const double z,
81 const size_t cx,
const size_t cy,
double& z_out)
const override;
83 const double x,
const double y,
double& z_out)
const override;
105 bool run_map_estimation_at_ctor;
107 double min_x, max_x, min_y, max_y, resolution;
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOptions
virtual bool dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const override
Get cell 'z' by (cx,cy) cell indices.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
Extra params for insertIndividualPoint()
Virtual base class for Digital Elevation Model (DEM) maps.
Parameters common to any derived class.
@ mrGMRF_SD
Gaussian Markov Random Field, squared differences prior weights between 4 neighboring cells (see disc...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual size_t dem_get_size_x() const override
virtual bool insertIndividualPoint(const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams ¶ms=CHeightGridMap2D_Base::TPointInsertParams()) override
Update the DEM with one new point.
CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty,...
GLsizei GLsizei GLchar * source
CHeightGridMap2D_MRF(TMapRepresentation mapType=mrGMRF_SD, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.5, bool run_first_map_estimation_now=true)
Constructor.
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
TInsertionOptions()
Default values loader.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
std::shared_ptr< CSetOfObjects > Ptr
virtual void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
double internal_computeObservationLikelihood(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
virtual size_t dem_get_size_y() const override
bool internal_insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
#define MAP_DEFINITION_END(_CLASS_NAME_)
virtual double dem_get_resolution() const override
virtual void dem_update_map() override
Ensure that all observations are reflected in the map estimate.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() override
Get the part of the options common to all CRandomFieldGridMap2D classes.
Declares a class that represents any robot's observation.
void internal_clear() override
Erase all the contents of the map.
GLsizei const GLchar ** string
virtual bool dem_get_z(const double x, const double y, double &z_out) const override
Get cell 'z' (x,y) by metric coordinates.
Parameters related with inserting observations into the map.
GLenum const GLfloat * params
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