Detailed Description

A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).

The individual beacons are defined as mrpt::maps::CBeacon objects.
When invoking CBeaconMap::insertObservation(), landmarks will be extracted and fused into the map. The only currently supported observation type is mrpt::obs::CObservationBeaconRanges. See insertionOptions and likelihoodOptions for parameters used when creating and fusing beacon landmarks.
Use "TInsertionOptions::insertAsMonteCarlo" to select between 2 different behaviors:

Initial PDF of beacons: MonteCarlo, after convergence, pass to Gaussians; or
Initial PDF of beacons: SOG, after convergence, a single Gaussian.

Refer to the papers: []

See also: CMetricMap

Definition at line 46 of file CBeaconMap.h.

#include <mrpt/maps/CBeaconMap.h>

Inheritance diagram for mrpt::maps::CBeaconMap:

Classes
struct	TInsertionOptions
	This struct contains data for choosing the method by which new beacons are inserted in the map. More...

struct	TLikelihoodOptions
	With this struct options are provided to the likelihood computations. More...

struct	TMapDefinition

struct	TMapDefinitionBase

Public Types
using	TSequenceBeacons = std::deque< CBeacon >

using	iterator = std::deque< CBeacon >::iterator

using	const_iterator = std::deque< CBeacon >::const_iterator

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

	CBeaconMap ()
	Constructor. More...

void	resize (const size_t N)
	Resize the number of SOG modes. More...

const CBeacon &	operator[] (size_t i) const
	Access to individual beacons. More...

const CBeacon &	get (size_t i) const
	Access to individual beacons. More...

CBeacon &	operator[] (size_t i)
	Access to individual beacons. More...

CBeacon &	get (size_t i)
	Access to individual beacons. More...

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

void	push_back (const CBeacon &m)
	Inserts a copy of the given mode into the SOG. More...

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. More...

bool	saveToMATLABScript3D (const std::string &file, const char *style="b", float confInterval=0.95f) const
	Save to a MATLAB script which displays 3D error ellipses for the map. More...

size_t	size () const
	Returns the stored landmarks count. More...

virtual void	determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const override
	Computes the matching between this and another 2D point map, which includes finding: More...

void	computeMatchingWith3DLandmarks (const mrpt::maps::CBeaconMap *otherMap, mrpt::tfest::TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const
	Perform a search for correspondences between "this" and another lansmarks map: Firsly, the landmarks' descriptor is used to find correspondences, then inconsistent ones removed by looking at their 3D poses. More...

void	changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg)
	Changes the reference system of the map to a given 3D pose. More...

void	changeCoordinatesReference (const mrpt::poses::CPose3D &newOrg, const mrpt::maps::CBeaconMap *otherMap)
	Changes the reference system of the map "otherMap" and save the result in "this" map. More...

bool	isEmpty () const override
	Returns true if the map is empty/no observation has been inserted. More...

void	simulateBeaconReadings (const mrpt::poses::CPose3D &in_robotPose, const mrpt::poses::CPoint3D &in_sensorLocationOnRobot, mrpt::obs::CObservationBeaconRanges &out_Observations) const
	Simulates a reading toward each of the beacons in the landmarks map, if any. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). More...

void	saveToTextFile (const std::string &fil) const
	Save a text file with a row per beacon, containing this 11 elements: More...

void	getAs3DObject (mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
	Returns a 3D object representing the map. More...

const CBeacon *	getBeaconByID (CBeacon::TBeaconID id) const
	Returns a pointer to the beacon with the given ID, or nullptr if it does not exist. More...

CBeacon *	getBeaconByID (CBeacon::TBeaconID id)
	Returns a pointer to the beacon with the given ID, or nullptr if it does not exist. More...

void	clear ()
	Erase all the contents of the map. More...

void	loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map)
	Load the map contents from a CSimpleMap object, erasing all previous content of the map. More...

void	loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map)
	!This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=NULL)
	Insert the observation information into this map. More...

bool	insertObservationPtr (const mrpt::obs::CObservation::Ptr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
	A wrapper for smart pointers, just calls the non-smart pointer version. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)
	Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. More...

double	computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual bool	canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

bool	canComputeObservationLikelihood (const mrpt::obs::CObservation::Ptr &obs) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

double	computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom)
	Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. More...

bool	canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) const
	Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. More...

virtual void	determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const TMatchingParams &params, TMatchingExtraResults &extraResults) const
	Computes the matchings between this and another 3D points map - method used in 3D-ICP. More...

virtual void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". More...

virtual float	squareDistanceToClosestCorrespondence (float x0, float y0) const
	Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. More...

virtual const mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. More...

virtual mrpt::maps::CSimplePointsMap *	getAsSimplePointsMap ()

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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
mrpt::maps::CBeaconMap::TLikelihoodOptions	likelihoodOptions

mrpt::maps::CBeaconMap::TInsertionOptions	insertionOptions

TMapGenericParams	genericMapParams
	Common params to all maps. More...

Protected Member Functions
virtual void	internal_clear () override
	Internal method called by clear() More...

virtual bool	internal_insertObservation (const mrpt::obs::CObservation obs, const mrpt::poses::CPose3D robotPose=nullptr) override
	Internal method called by insertObservation() More...

double	internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) override
	Internal method called by computeObservationLikelihood() More...

void	publishEvent (const mrptEvent &e) const
	Called when you want this object to emit an event to all the observers currently subscribed to this object. More...

bool	hasSubscribers () const
	Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. 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
TSequenceBeacons	m_beacons
	The individual beacons. More...

Private Member Functions
virtual bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const
	Internal method called by canComputeObservationLikelihood() More...

virtual void	OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *)
	Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. More...

void	internal_observer_begin (CObserver *)

void	internal_observer_end (CObserver *)

Private Attributes
std::set< CObserver * >	m_subscribers

RTTI stuff

using	Ptr = std::shared_ptr< CBeaconMap >

using	ConstPtr = std::shared_ptr< const CBeaconMap >

using	UniquePtr = std::unique_ptr< CBeaconMap >

using	ConstUniquePtr = std::unique_ptr< const CBeaconMap >

static mrpt::rtti::CLASSINIT	_init_CBeaconMap

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CBeaconMap"

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...

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{
static const size_t	m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CBeaconMap,beaconMap" , & mrpt::maps::CBeaconMap ::MapDefinition, & mrpt::maps::CBeaconMap ::internal_CreateFromMapDefinition)
	ID used to initialize class registration (just ignore it) More...

static mrpt::maps::TMetricMapInitializer *	MapDefinition ()
	Returns default map definition initializer. More...

static CBeaconMap *	CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)
	Constructor from a map definition structure: initializes the map and * its parameters accordingly. More...

static mrpt::maps::CMetricMap *	internal_CreateFromMapDefinition (const mrpt::maps::TMetricMapInitializer &def)

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::CBeaconMap::const_iterator = std::deque<CBeacon>::const_iterator

Definition at line 53 of file CBeaconMap.h.

◆ ConstPtr

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

Definition at line 48 of file CBeaconMap.h.

◆ ConstUniquePtr

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

Definition at line 48 of file CBeaconMap.h.

◆ iterator

using mrpt::maps::CBeaconMap::iterator = std::deque<CBeacon>::iterator

Definition at line 52 of file CBeaconMap.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 48 of file CBeaconMap.h.

◆ TSequenceBeacons

using mrpt::maps::CBeaconMap::TSequenceBeacons = std::deque<CBeacon>

Definition at line 51 of file CBeaconMap.h.

◆ UniquePtr

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

Definition at line 48 of file CBeaconMap.h.

Constructor & Destructor Documentation

◆ CBeaconMap()

CBeaconMap::CBeaconMap ( )

Constructor.

Definition at line 87 of file CBeaconMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ auxParticleFilterCleanUp()

virtual void mrpt::maps::CMetricMap::auxParticleFilterCleanUp ( )

inlinevirtualinherited

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Reimplemented in mrpt::maps::CLandmarksMap, and mrpt::maps::CMultiMetricMap.

Definition at line 290 of file CMetricMap.h.

◆ begin() [1/2]

iterator mrpt::maps::CBeaconMap::begin ( )

inline

Definition at line 100 of file CBeaconMap.h.

References m_beacons.

◆ begin() [2/2]

const_iterator mrpt::maps::CBeaconMap::begin ( ) const

inline

Definition at line 101 of file CBeaconMap.h.

References m_beacons.

◆ canComputeObservationLikelihood() [1/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

virtualinherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

obs	The observation.

See also: computeObservationLikelihood, genericMapParams.enableObservationLikelihood

Definition at line 180 of file CMetricMap.cpp.

◆ canComputeObservationLikelihood() [2/2]

bool CMetricMap::canComputeObservationLikelihood ( const mrpt::obs::CObservation::Ptr & obs ) const

inherited

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 121 of file CMetricMap.cpp.

◆ canComputeObservationsLikelihood()

bool CMetricMap::canComputeObservationsLikelihood ( const mrpt::obs::CSensoryFrame & sf ) const

inherited

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image). See: Maps and observations compatibility matrix

Parameters

sf	The observations.

See also: canComputeObservationLikelihood

Definition at line 86 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

◆ changeCoordinatesReference() [1/2]

void CBeaconMap::changeCoordinatesReference ( const mrpt::poses::CPose3D & newOrg )

Changes the reference system of the map to a given 3D pose.

Definition at line 823 of file CBeaconMap.cpp.

Referenced by compute3DMatchingRatio(), and determineMatching2D().

◆ changeCoordinatesReference() [2/2]

void CBeaconMap::changeCoordinatesReference	(	const mrpt::poses::CPose3D &	newOrg,
		const mrpt::maps::CBeaconMap *	otherMap
	)

Changes the reference system of the map "otherMap" and save the result in "this" map.

Definition at line 833 of file CBeaconMap.cpp.

◆ clear()

void CMetricMap::clear ( )

inherited

Erase all the contents of the map.

Definition at line 31 of file CMetricMap.cpp.

Referenced by mrpt::maps::CHeightGridMap2D_MRF::CHeightGridMap2D_MRF(), mrpt::maps::CReflectivityGridMap2D::clear(), mrpt::maps::CHeightGridMap2D::clear(), mrpt::maps::CRandomFieldGridMap2D::clear(), mrpt::maps::CPointsMap::extractCylinder(), mrpt::maps::CPointsMap::extractPoints(), mrpt::opengl::CAngularObservationMesh::generatePointCloud(), mrpt::maps::COccupancyGridMap2D::getAsPointCloud(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::nav::CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::vision::projectMatchedFeatures(), mrpt::opengl::CPlanarLaserScan::render_dl(), run_rnav_test(), mrpt::maps::CPointsMap::setFromPCLPointCloud(), mrpt::maps::CColouredPointsMap::setFromPCLPointCloudRGB(), mrpt::maps::CRandomFieldGridMap2D::setSize(), mrpt::nav::PlannerTPS_VirtualBase::transformPointcloudWithSquareClipping(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

float CBeaconMap::compute3DMatchingRatio	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose3D &	otherMapPose,
		const TMatchingRatioParams &	params
	)		const

overridevirtual

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The 6D pose of the other map as seen from "this".
params	[IN] Matching parameters

Returns: The matching ratio [0,1]

See also: determineMatching2D

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 1195 of file CBeaconMap.cpp.

References changeCoordinatesReference(), CLASS_ID, mrpt::maps::CMetricMap::GetRuntimeClass(), MRPT_END, and MRPT_START.

◆ computeMatchingWith3DLandmarks()

void CBeaconMap::computeMatchingWith3DLandmarks	(	const mrpt::maps::CBeaconMap *	otherMap,
		mrpt::tfest::TMatchingPairList &	correspondences,
		float &	correspondencesRatio,
		std::vector< bool > &	otherCorrespondences
	)		const

Perform a search for correspondences between "this" and another lansmarks map: Firsly, the landmarks' descriptor is used to find correspondences, then inconsistent ones removed by looking at their 3D poses.

Parameters

otherMap	[IN] The other map.
correspondences	[OUT] The matched pairs between maps.
correspondencesRatio	[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap
otherCorrespondences	[OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence.

Definition at line 845 of file CBeaconMap.cpp.

References m_beacons, MRPT_END, MRPT_START, mrpt::tfest::TMatchingPair::other_idx, mrpt::tfest::TMatchingPair::other_x, mrpt::tfest::TMatchingPair::other_y, mrpt::tfest::TMatchingPair::other_z, mrpt::tfest::TMatchingPair::this_idx, mrpt::tfest::TMatchingPair::this_x, mrpt::tfest::TMatchingPair::this_y, mrpt::tfest::TMatchingPair::this_z, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ computeObservationLikelihood() [1/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

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 77 of file CMetricMap.cpp.

◆ computeObservationLikelihood() [2/2]

double CMetricMap::computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

inherited

Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
obs	The observation.

Returns: This method returns a log-likelihood.

See also: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Definition at line 189 of file CMetricMap.cpp.

Referenced by mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), and mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle().

◆ computeObservationsLikelihood()

double CMetricMap::computeObservationsLikelihood	(	const mrpt::obs::CSensoryFrame &	sf,
		const mrpt::poses::CPose2D &	takenFrom
	)

inherited

Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.

See: Maps and observations compatibility matrix

Parameters

takenFrom	The robot's pose the observation is supposed to be taken from.
sf	The set of observations in a CSensoryFrame.

Returns: This method returns a log-likelihood.

See also: canComputeObservationsLikelihood

Definition at line 67 of file CMetricMap.cpp.

References mrpt::obs::CSensoryFrame::begin(), and mrpt::obs::CSensoryFrame::end().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::auxiliarComputeObservationLikelihood().

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 48 of file CBeaconMap.h.

◆ CreateFromMapDefinition()

mrpt::maps::CBeaconMap * mrpt::maps::CBeaconMap::CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

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

Definition at line 43 of file CBeaconMap.cpp.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 48 of file CBeaconMap.h.

◆ determineMatching2D()

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

overridevirtual

Computes the matching between this and another 2D point map, which includes finding:

The set of points pairs in each map
The mean squared distance between corresponding pairs.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

This method is the most time critical one into ICP-like algorithms.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 792 of file CBeaconMap.cpp.

References ASSERT_, changeCoordinatesReference(), CLASS_ID, mrpt::maps::CMetricMap::GetRuntimeClass(), MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ determineMatching3D()

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

virtualinherited

Computes the matchings between this and another 3D points map - method used in 3D-ICP.

This method finds the set of point pairs in each map.

The method is the most time critical one into ICP-like algorithms.

The algorithm is:

For each point in "otherMap":
- Transform the point according to otherMapPose
- Search with a KD-TREE the closest correspondences in "this" map.
- Add to the set of candidate matchings, if it passes all the thresholds in params.

Parameters

otherMap	[IN] The other map to compute the matching with.
otherMapPose	[IN] The pose of the other map as seen from "this".
params	[IN] Parameters for the determination of pairings.
correspondences	[OUT] The detected matchings pairs.
extraResults	[OUT] Other results.

See also: compute3DMatchingRatio

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 142 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

Referenced by mrpt::slam::CICP::ICP3D_Method_Classic().

◆ 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ end() [1/2]

iterator mrpt::maps::CBeaconMap::end ( )

inline

Definition at line 102 of file CBeaconMap.h.

References m_beacons.

◆ end() [2/2]

const_iterator mrpt::maps::CBeaconMap::end ( ) const

inline

Definition at line 103 of file CBeaconMap.h.

References m_beacons.

◆ get() [1/2]

CBeacon& mrpt::maps::CBeaconMap::get ( size_t i )

inline

Access to individual beacons.

Definition at line 94 of file CBeaconMap.h.

References ASSERT_, and m_beacons.

◆ get() [2/2]

const CBeacon& mrpt::maps::CBeaconMap::get ( size_t i ) const

inline

Access to individual beacons.

Definition at line 82 of file CBeaconMap.h.

References ASSERT_, and m_beacons.

◆ getAs3DObject()

void CBeaconMap::getAs3DObject ( mrpt::opengl::CSetOfObjects::Ptr & outObj ) const

overridevirtual

Returns a 3D object representing the map.

Implements mrpt::maps::CMetricMap.

Definition at line 1160 of file CBeaconMap.cpp.

References mrpt::opengl::stock_objects::CornerXYZ(), MRPT_END, and MRPT_START.

◆ getAsSimplePointsMap() [1/2]

virtual mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( )

inlinevirtualinherited

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 306 of file CMetricMap.h.

◆ getAsSimplePointsMap() [2/2]

virtual const mrpt::maps::CSimplePointsMap* mrpt::maps::CMetricMap::getAsSimplePointsMap ( ) const

inlinevirtualinherited

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented in mrpt::maps::CPointsMap, mrpt::maps::CMultiMetricMap, and mrpt::maps::CSimplePointsMap.

Definition at line 302 of file CMetricMap.h.

Referenced by mrpt::maps::CPointsMap::compute3DMatchingRatio().

◆ getBeaconByID() [1/2]

CBeacon * CBeaconMap::getBeaconByID ( CBeacon::TBeaconID id )

Returns a pointer to the beacon with the given ID, or nullptr if it does not exist.

Definition at line 1239 of file CBeaconMap.cpp.

◆ getBeaconByID() [2/2]

const CBeacon * CBeaconMap::getBeaconByID ( CBeacon::TBeaconID id ) const

Returns a pointer to the beacon with the given ID, or nullptr if it does not exist.

Definition at line 1229 of file CBeaconMap.cpp.

◆ getClassName()

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

inlinestaticconstexpr

Definition at line 48 of file CBeaconMap.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::maps::CMetricMap.

◆ GetRuntimeClassIdStatic()

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

static

◆ hasSubscribers()

bool mrpt::system::CObservable::hasSubscribers ( ) const

inlineprotectedinherited

Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.

Definition at line 55 of file CObservable.h.

References mrpt::system::CObservable::m_subscribers.

Referenced by mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ insertObservation()

bool CMetricMap::insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

Insert the observation information into this map.

This method must be implemented in derived classes. See: Maps and observations compatibility matrix

Parameters

obs	The observation
robotPose	The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.

See also: CObservation::insertObservationInto

Definition at line 95 of file CMetricMap.cpp.

Referenced by ICPTests::align2scans(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::getICPEdge(), CAngularObservationMesh_fnctr::operator()(), mrpt::opengl::CPlanarLaserScan::render_dl(), TEST(), and mrpt::graphslam::CGraphSlamEngine< mrpt::graphs::CNetworkOfPoses2DInf >::updateMapVisualization().

◆ insertObservationPtr()

bool CMetricMap::insertObservationPtr	(	const mrpt::obs::CObservation::Ptr &	obs,
		const mrpt::poses::CPose3D *	robotPose = `NULL`
	)

inherited

A wrapper for smart pointers, just calls the non-smart pointer version.

See: Maps and observations compatibility matrix

Definition at line 109 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ internal_canComputeObservationLikelihood()

virtual bool mrpt::maps::CMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

inlineprivatevirtualinherited

Internal method called by canComputeObservationLikelihood()

Reimplemented in mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CMultiMetricMap.

Definition at line 75 of file CMetricMap.h.

References MRPT_UNUSED_PARAM.

◆ internal_clear()

void CBeaconMap::internal_clear ( )

overrideprotectedvirtual

Internal method called by clear()

Implements mrpt::maps::CMetricMap.

Definition at line 94 of file CBeaconMap.cpp.

◆ internal_computeObservationLikelihood()

double CBeaconMap::internal_computeObservationLikelihood	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D &	takenFrom
	)

overrideprotectedvirtual

Internal method called by computeObservationLikelihood()

Implements mrpt::maps::CMetricMap.

Definition at line 145 of file CBeaconMap.cpp.

References mrpt::math::averageLogLikelihood(), mrpt::poses::CPointPDFSOG::begin(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::poses::CPointPDFSOG::end(), mrpt::obs::CObservation::GetRuntimeClass(), mrpt::maps::CBeacon::m_locationGauss, mrpt::maps::CBeacon::m_locationMC, mrpt::maps::CBeacon::m_locationSOG, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::maps::CBeacon::m_typePDF, mrpt::obs::CObservationBeaconRanges::maxSensorDistance, mrpt::poses::CPointPDFGaussian::mean, mrpt::obs::CObservationBeaconRanges::minSensorDistance, MRPT_CHECK_NORMAL_NUMBER, MRPT_END, MRPT_START, mrpt::maps::CBeacon::pdfGauss, mrpt::maps::CBeacon::pdfMonteCarlo, mrpt::maps::CBeacon::pdfSOG, mrpt::obs::CObservationBeaconRanges::sensedData, mrpt::poses::CPointPDFSOG::size(), mrpt::square(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ internal_CreateFromMapDefinition()

mrpt::maps::CMetricMap * CBeaconMap::internal_CreateFromMapDefinition ( const mrpt::maps::TMetricMapInitializer & def )

static

Definition at line 70 of file CBeaconMap.cpp.

References mrpt::maps::CBeaconMap::TMapDefinition::insertionOpts, and mrpt::maps::CBeaconMap::TMapDefinition::likelihoodOpts.

◆ internal_insertObservation()

bool CBeaconMap::internal_insertObservation	(	const mrpt::obs::CObservation *	obs,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)

overrideprotectedvirtual

Internal method called by insertObservation()

Implements mrpt::maps::CMetricMap.

Definition at line 354 of file CBeaconMap.cpp.

References ASSERT_, mrpt::poses::CPointPDFSOG::begin(), CLASS_ID, mrpt::poses::CPointPDFParticles::clear(), mrpt::poses::CPointPDFGaussian::cov, mrpt::DEG2RAD(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distance3DTo(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::random::CRandomGenerator::drawUniform(), mrpt::poses::CPointPDFSOG::end(), mrpt::poses::CPointPDFSOG::erase(), mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::maps::CBeacon::generateRingSOG(), mrpt::poses::CPointPDFParticles::getCovarianceAndMean(), mrpt::poses::CPointPDFSOG::getCovarianceAndMean(), mrpt::random::getRandomGenerator(), mrpt::obs::CObservation::GetRuntimeClass(), mrpt::bayes::CParticleFilterData< T, STORAGE >::getWeights(), mrpt::maps::CBeacon::m_ID, mrpt::maps::CBeacon::m_locationGauss, mrpt::maps::CBeacon::m_locationMC, mrpt::maps::CBeacon::m_locationSOG, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, M_PI, mrpt::maps::CBeacon::m_typePDF, mrpt::max3(), mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::poses::CPointPDFSOG::normalizeWeights(), mrpt::maps::CBeacon::pdfGauss, mrpt::maps::CBeacon::pdfMonteCarlo, mrpt::maps::CBeacon::pdfSOG, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::performSubstitution(), R, mrpt::round(), mrpt::obs::CObservationBeaconRanges::sensedData, mrpt::poses::CPointPDFParticles::setSize(), mrpt::square(), THROW_EXCEPTION, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x_incr(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y_incr().

◆ internal_observer_begin()

void CObservable::internal_observer_begin ( CObserver * o )

privateinherited

Definition at line 29 of file CObservable.cpp.

◆ internal_observer_end()

void CObservable::internal_observer_end ( CObserver * o )

privateinherited

Definition at line 34 of file CObservable.cpp.

References ASSERTMSG_, MRPT_END, and MRPT_START.

◆ isEmpty()

bool CBeaconMap::isEmpty ( ) const

overridevirtual

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

Implements mrpt::maps::CMetricMap.

Definition at line 1046 of file CBeaconMap.cpp.

◆ loadFromProbabilisticPosesAndObservations()

void CMetricMap::loadFromProbabilisticPosesAndObservations ( const mrpt::maps::CSimpleMap & Map )

inherited

Load the map contents from a CSimpleMap object, erasing all previous content of the map.

This is done invoking insertObservation() for each observation at the mean 3D robot pose of each pose-observations pair in the CSimpleMap object.

See also: insertObservation, CSimpleMap

Exceptions

std::exception Some internal steps in invoked methods can raise exceptions on invalid parameters, etc...

Definition at line 37 of file CMetricMap.cpp.

References ASSERTMSG_, mrpt::containers::clear(), mrpt::maps::CSimpleMap::get(), and mrpt::maps::CSimpleMap::size().

Referenced by mrpt::maps::CMetricMap::loadFromSimpleMap(), and run_test_pf_localization().

◆ loadFromSimpleMap()

void mrpt::maps::CMetricMap::loadFromSimpleMap ( const mrpt::maps::CSimpleMap & Map )

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 110 of file CMetricMap.h.

References mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations().

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().

◆ MapDefinition()

mrpt::maps::TMetricMapInitializer * mrpt::maps::CBeaconMap::MapDefinition ( )

static

Returns default map definition initializer.

See * mrpt::maps::TMetricMapInitializer

Definition at line 43 of file CBeaconMap.cpp.

◆ OnPostSuccesfulInsertObs()

virtual void mrpt::maps::CMetricMap::OnPostSuccesfulInsertObs ( const mrpt::obs::CObservation * )

inlineprivatevirtualinherited

Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.

Reimplemented in mrpt::maps::COccupancyGridMap2D.

Definition at line 86 of file CMetricMap.h.

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 48 of file CBeaconMap.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 48 of file CBeaconMap.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 48 of file CBeaconMap.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 48 of file CBeaconMap.h.

◆ operator new() [1/3]

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

inline

Definition at line 48 of file CBeaconMap.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 48 of file CBeaconMap.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 48 of file CBeaconMap.h.

◆ operator new[]()

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

inline

Definition at line 48 of file CBeaconMap.h.

◆ operator[]() [1/2]

CBeacon& mrpt::maps::CBeaconMap::operator[] ( size_t i )

inline

Access to individual beacons.

Definition at line 88 of file CBeaconMap.h.

References ASSERT_, and m_beacons.

◆ operator[]() [2/2]

const CBeacon& mrpt::maps::CBeaconMap::operator[] ( size_t i ) const

inline

Access to individual beacons.

Definition at line 76 of file CBeaconMap.h.

References ASSERT_, and m_beacons.

◆ publishEvent()

void CObservable::publishEvent ( const mrptEvent & e ) const

protectedinherited

Called when you want this object to emit an event to all the observers currently subscribed to this object.

Definition at line 48 of file CObservable.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::gui::CDisplayWindow3D::internal_emitGrabImageEvent(), mrpt::gui::CWindowDialog::OnChar(), mrpt::gui::CWindowDialog::OnClose(), mrpt::gui::C3DWindowDialog::OnClose(), mrpt::gui::CWindowDialog::OnMouseDown(), mrpt::gui::CWindowDialog::OnMouseMove(), mrpt::gui::CWindowDialog::OnResize(), mrpt::gui::C3DWindowDialog::OnResize(), and mrpt::opengl::COpenGLViewport::render().

◆ push_back()

void mrpt::maps::CBeaconMap::push_back ( const CBeacon & m )

inline

Inserts a copy of the given mode into the SOG.

Definition at line 105 of file CBeaconMap.h.

References m_beacons.

◆ resize()

void CBeaconMap::resize ( const size_t N )

Resize the number of SOG modes.

Definition at line 102 of file CBeaconMap.cpp.

◆ saveMetricMapRepresentationToFile()

void CBeaconMap::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

overridevirtual

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

In the case of this class, these files are generated:

"filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.
"filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D.
"filNamePrefix"+"_covs.m": A textual representation (see saveToTextFile)

Implements mrpt::maps::CMetricMap.

Definition at line 1094 of file CBeaconMap.cpp.

References mrpt::opengl::CGridPlaneXY::Create(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, mrpt::maps::CBeacon::pdfGauss, mrpt::maps::CBeacon::pdfMonteCarlo, mrpt::maps::CBeacon::pdfSOG, mrpt::opengl::COpenGLScene::saveToFile(), and saveToTextFile().

◆ saveToMATLABScript3D()

bool CBeaconMap::saveToMATLABScript3D	(	const std::string &	file,
		const char *	style = `"b"`,
		float	confInterval = `0.95f`
	)		const

Save to a MATLAB script which displays 3D error ellipses for the map.

Parameters

file	The name of the file to save the script to.
style	The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities)
stdCount	The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)

Returns: Returns false if any error occured, true elsewere.

Definition at line 922 of file CBeaconMap.cpp.

References mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), MRPT_UNUSED_PARAM, and mrpt::system::stringListAsString().

◆ saveToTextFile()

void CBeaconMap::saveToTextFile ( const std::string & fil ) const

Save a text file with a row per beacon, containing this 11 elements:

X Y Z: Mean values
VX VY VZ: Variances of each dimension (C11, C22, C33)
DET2D DET3D: Determinant of the 2D and 3D covariance matrixes.
C12, C13, C23: Cross covariances

Definition at line 1252 of file CBeaconMap.cpp.

References ASSERT_, mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::system::os::fprintf(), MRPT_END, MRPT_START, and mrpt::square().

◆ serializeFrom()

void CBeaconMap::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 115 of file CBeaconMap.cpp.

References mrpt::containers::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CBeaconMap::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 103 of file CBeaconMap.cpp.

◆ serializeTo()

void CBeaconMap::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 104 of file CBeaconMap.cpp.

References begin().

◆ simulateBeaconReadings()

void CBeaconMap::simulateBeaconReadings	(	const mrpt::poses::CPose3D &	in_robotPose,
		const mrpt::poses::CPoint3D &	in_sensorLocationOnRobot,
		mrpt::obs::CObservationBeaconRanges &	out_Observations
	)		const

Simulates a reading toward each of the beacons in the landmarks map, if any.

Parameters

in_robotPose	This robot pose is used to simulate the ranges to each beacon.
in_sensorLocationOnRobot	The 3D position of the sensor on the robot
out_Observations	The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.

Definition at line 1050 of file CBeaconMap.cpp.

References mrpt::obs::CObservationBeaconRanges::TMeasurement::beaconID, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::random::CRandomGenerator::drawGaussian1D(), mrpt::random::getRandomGenerator(), mrpt::obs::CObservationBeaconRanges::maxSensorDistance, mrpt::obs::CObservationBeaconRanges::minSensorDistance, mrpt::obs::CObservationBeaconRanges::sensedData, mrpt::obs::CObservationBeaconRanges::TMeasurement::sensedDistance, mrpt::obs::CObservationBeaconRanges::TMeasurement::sensorLocationOnRobot, and mrpt::obs::CObservationBeaconRanges::stdError.

◆ size()

size_t CBeaconMap::size ( ) const

Returns the stored landmarks count.

Definition at line 98 of file CBeaconMap.cpp.

◆ squareDistanceToClosestCorrespondence()

float CMetricMap::squareDistanceToClosestCorrespondence	(	float	x0,
		float	y0
	)		const

virtualinherited

Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.

Reimplemented in mrpt::maps::CPointsMap.

Definition at line 170 of file CMetricMap.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ 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 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CBeaconMap

mrpt::rtti::CLASSINIT mrpt::maps::CBeaconMap::_init_CBeaconMap

staticprotected

Definition at line 48 of file CBeaconMap.h.

◆ className

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

staticconstexpr

Definition at line 48 of file CBeaconMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 282 of file CMetricMap.h.

◆ insertionOptions

mrpt::maps::CBeaconMap::TInsertionOptions mrpt::maps::CBeaconMap::insertionOptions

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ likelihoodOptions

mrpt::maps::CBeaconMap::TLikelihoodOptions mrpt::maps::CBeaconMap::likelihoodOptions

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ m_beacons

TSequenceBeacons mrpt::maps::CBeaconMap::m_beacons

protected

The individual beacons.

Definition at line 57 of file CBeaconMap.h.

Referenced by begin(), computeMatchingWith3DLandmarks(), end(), get(), operator[](), and push_back().

◆ m_private_map_register_id

const size_t mrpt::maps::CBeaconMap::m_private_map_register_id = mrpt::maps::internal::TMetricMapTypesRegistry::Instance().doRegister( "CBeaconMap,beaconMap" , & mrpt::maps::CBeaconMap ::MapDefinition, & mrpt::maps::CBeaconMap ::internal_CreateFromMapDefinition)

static

ID used to initialize class registration (just ignore it)

Definition at line 316 of file CBeaconMap.h.

◆ m_subscribers

std::set<CObserver*> mrpt::system::CObservable::m_subscribers

privateinherited

Definition at line 42 of file CObservable.h.

Referenced by mrpt::system::CObservable::hasSubscribers().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CBeaconMap::runtimeClassId

staticprotected

Definition at line 48 of file CBeaconMap.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

RTTI stuff

Map Definition Interface stuff (see * mrpt::maps::TMetricMapInitializer) @{

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ TSequenceBeacons

◆ UniquePtr

Constructor & Destructor Documentation

◆ CBeaconMap()

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ begin() [1/2]

◆ begin() [2/2]

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ changeCoordinatesReference() [1/2]

◆ changeCoordinatesReference() [2/2]

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeMatchingWith3DLandmarks()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateFromMapDefinition()

◆ CreateObject()

◆ CreateUnique()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ get() [1/2]

◆ get() [2/2]

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getBeaconByID() [1/2]

◆ getBeaconByID() [2/2]

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_canComputeObservationLikelihood()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_CreateFromMapDefinition()

◆ internal_insertObservation()

◆ internal_observer_begin()

◆ internal_observer_end()

◆ isEmpty()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ MapDefinition()

◆ OnPostSuccesfulInsertObs()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]