Detailed Description

This class stores any customizable set of metric maps.

The internal metric maps can be accessed directly by the user as smart pointers with CMultiMetricMap::getMapByIndex() or via iterators. The utility of this container is to operate on several maps simultaneously: update them by inserting observations, evaluate the likelihood of one observation by fusing (multiplying) the likelihoods over the different maps, etc.

These kinds of metric maps can be kept inside (list may be incomplete, refer to classes derived from mrpt::maps::CMetricMap):

mrpt::maps::CSimplePointsMap: For 2D or 3D range scans, ...
mrpt::maps::COccupancyGridMap2D: 2D, horizontal laser range scans, at different altitudes.
mrpt::maps::COctoMap: For 3D occupancy grids of variable resolution, with octrees (based on the library octomap).
mrpt::maps::CColouredOctoMap: The same than above, but nodes can store RGB data appart from occupancy.
mrpt::maps::CLandmarksMap: For visual landmarks,etc...
mrpt::maps::CGasConcentrationGridMap2D: For gas concentration maps.
mrpt::maps::CWirelessPowerGridMap2D: For wifi power maps.
mrpt::maps::CBeaconMap: For range-only SLAM.
mrpt::maps::CHeightGridMap2D: For elevation maps of height for each (x,y) location (Digital elevation model, DEM)
mrpt::maps::CHeightGridMap2D_MRF: DEMs as Markov Random Field (MRF)
mrpt::maps::CReflectivityGridMap2D: For maps of "reflectivity" for each (x,y) location.
mrpt::maps::CColouredPointsMap: For point map with color.
mrpt::maps::CWeightedPointsMap: For point map with weights (capable of "fusing").

See CMultiMetricMap::setListOfMaps() for the method for initializing this class programmatically. See also TSetOfMetricMapInitializers::loadFromConfigFile for a template of ".ini"-like configuration file that can be used to define which maps to create and all their parameters. Alternatively, the list of maps is public so it can be directly manipulated/accessed in CMultiMetricMap::maps

Configuring the list of maps: Alternatives

Method #1: Using map definition structures

mrpt::maps::TSetOfMetricMapInitializers map_inits;
{
  mrpt::maps::COccupancyGridMap2D::TMapDefinition def;
  def.resolution = 0.05;
  def.insertionOpts.maxOccupancyUpdateCertainty = 0.8;
  def.insertionOpts.maxDistanceInsertion = 30;
  map_inits.push_back(def);
}
{
  mrpt::maps::CSimplePointsMap::TMapDefinition def;
  map_inits.push_back(def);
}
mrpt::maps::CMultiMetricMap theMap;
theMap.setListOfMaps(map_inits);

Method #2: Using a configuration file See TSetOfMetricMapInitializers::loadFromConfigFile() for details on expected file format.

mrpt::config::CConfigFile cfgFile("file.cfg");
mrpt::maps::TSetOfMetricMapInitializers map_inits;
map_inits.loadFromConfigFile(cfgFile, "MapDefinition");
 
mrpt::maps::CMultiMetricMap theMap;
theMap.setListOfMaps(map_inits);

Method #3: Manual manipulation

  mrpt::maps::CMultiMetricMap theMap;
  {
   mrpt::maps::CSimplePointsMap::Ptr ptMap =
*mrpt::make_aligned_shared<mrpt::maps::CSimplePointsMap>();
   theMap.maps.push_back(ptMap);
  }

Note: [New in MRPT 1.3.0]: likelihoodMapSelection, which selected the map to be used when computing the likelihood of an observation, has been removed. Use the enableObservationLikelihood property of each individual map declaration.; [New in MRPT 1.3.0]: enableInsertion_{pointsMap,...} have been also removed. Use the enableObservationInsertion property of each map declaration.; [New in MRPT 1.3.0]: Plain list of maps is exposed in maps member. Proxies named m_pointsMaps,m_gridMaps, etc. are provided for backwards-compatibility and for their utility.; This class belongs to [mrpt-slam] instead of [mrpt-maps] due to the dependency on map classes in mrpt-vision.

See also: CMetricMap

Definition at line 141 of file CMultiMetricMap.h.

#include <mrpt/maps/CMultiMetricMap.h>

Inheritance diagram for mrpt::maps::CMultiMetricMap:

Classes
struct	ProxyFilterContainerByClass
	Takes a const ref of a STL non-associative container of smart pointers at construction and exposes an interface mildly similar to that of another STL container containing only those elements in the original container that can be `dynamic_cast`ed to `SELECTED_CLASS_PTR` More...

struct	ProxySelectorContainerByClass
	A proxy like ProxyFilterContainerByClass, but it directly appears as if it was a single smart pointer (empty if no matching object is found in the container) More...

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

	CMultiMetricMap (const mrpt::maps::TSetOfMetricMapInitializers *initializers=nullptr)
	Constructor. More...

	CMultiMetricMap (const CMultiMetricMap &o)

CMultiMetricMap &	operator= (const CMultiMetricMap &o)

	CMultiMetricMap (CMultiMetricMap &&o)

CMultiMetricMap &	operator= (CMultiMetricMap &&o)

void	setListOfMaps (const mrpt::maps::TSetOfMetricMapInitializers *initializers)
	Sets the list of internal map according to the passed list of map initializers (Current maps' content will be deleted!) More...

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

bool	isEmpty () const override
	Returns true if all maps returns true to their isEmpty() method, which is map-dependent. More...

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

float	compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override
	See the definition in the base class: Calls in this class become a call to every single map in this set. More...

void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const override
	The implementation in this class just calls all the corresponding method of the contained metric maps. More...

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

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

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

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

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 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 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
unsigned int	m_ID
	An auxiliary variable that can be used freely by the users (this will be copied to other maps using the copy constructor, copy operator, streaming,etc) The default value is 0. More...

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

Protected Member Functions
void	deleteAllMaps ()
	Deletes all maps and clears the internal lists of maps (with clear_unique(), so user copies remain alive) More...

void	internal_clear () override
	Clear all elements of the map. More...

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

bool	internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) const override
	Returns true if any of the inner maps is able to compute a sensible likelihood function for this observation. 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...

Private Member Functions
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< CMultiMetricMap >

using	ConstPtr = std::shared_ptr< const CMultiMetricMap >

using	UniquePtr = std::unique_ptr< CMultiMetricMap >

using	ConstUniquePtr = std::unique_ptr< const CMultiMetricMap >

static mrpt::rtti::CLASSINIT	_init_CMultiMetricMap

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CMultiMetricMap"

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...

Access to internal list of maps: direct list, iterators, utility
methods and proxies
using	TListMaps = std::deque< mrpt::containers::deepcopy_poly_ptr< mrpt::maps::CMetricMap::Ptr > >

using	iterator = TListMaps::iterator

using	const_iterator = TListMaps::const_iterator

TListMaps	maps
	The list of MRPT metric maps in this object. More...

ProxyFilterContainerByClass< mrpt::maps::CSimplePointsMap::Ptr, TListMaps >	m_pointsMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::COccupancyGridMap2D::Ptr, TListMaps >	m_gridMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::COctoMap::Ptr, TListMaps >	m_octoMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CColouredOctoMap::Ptr, TListMaps >	m_colourOctoMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CGasConcentrationGridMap2D::Ptr, TListMaps >	m_gasGridMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CWirelessPowerGridMap2D::Ptr, TListMaps >	m_wifiGridMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CHeightGridMap2D::Ptr, TListMaps >	m_heightMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CHeightGridMap2D_MRF::Ptr, TListMaps >	m_heightMRFMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxyFilterContainerByClass< mrpt::maps::CReflectivityGridMap2D::Ptr, TListMaps >	m_reflectivityMaps
	STL-like proxy to access this kind of maps in maps. More...

ProxySelectorContainerByClass< mrpt::maps::CColouredPointsMap::Ptr, TListMaps >	m_colourPointsMap
	Proxy that looks like a smart pointer to the first matching object in maps. More...

ProxySelectorContainerByClass< mrpt::maps::CWeightedPointsMap::Ptr, TListMaps >	m_weightedPointsMap
	Proxy that looks like a smart pointer to the first matching object in maps. More...

ProxySelectorContainerByClass< mrpt::maps::CLandmarksMap::Ptr, TListMaps >	m_landmarksMap
	Proxy that looks like a smart pointer to the first matching object in maps. More...

ProxySelectorContainerByClass< mrpt::maps::CBeaconMap::Ptr, TListMaps >	m_beaconMap
	Proxy that looks like a smart pointer to the first matching object in maps. More...

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

mrpt::maps::CMetricMap::Ptr	getMapByIndex (size_t idx) const
	Gets the i-th map. More...

template<typename T >
T::Ptr	getMapByClass (const size_t &ith=0) const
	Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array. More...

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::CMultiMetricMap::const_iterator = TListMaps::const_iterator

Definition at line 181 of file CMultiMetricMap.h.

◆ ConstPtr

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

Definition at line 143 of file CMultiMetricMap.h.

◆ ConstUniquePtr

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

Definition at line 143 of file CMultiMetricMap.h.

◆ iterator

using mrpt::maps::CMultiMetricMap::iterator = TListMaps::iterator

Definition at line 180 of file CMultiMetricMap.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 143 of file CMultiMetricMap.h.

◆ TListMaps

using mrpt::maps::CMultiMetricMap::TListMaps = std::deque< mrpt::containers::deepcopy_poly_ptr<mrpt::maps::CMetricMap::Ptr> >

Definition at line 171 of file CMultiMetricMap.h.

◆ UniquePtr

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

Definition at line 143 of file CMultiMetricMap.h.

Constructor & Destructor Documentation

◆ CMultiMetricMap() [1/3]

CMultiMetricMap::CMultiMetricMap ( const mrpt::maps::TSetOfMetricMapInitializers * initializers = nullptr )

Constructor.

Parameters

initializers One internal map will be created for each entry in this "TSetOfMetricMapInitializers" struct. If initializers is nullptr, no internal map will be created.

Definition at line 183 of file CMultiMetricMap.cpp.

References MRPT_END, MRPT_START, and setListOfMaps().

◆ CMultiMetricMap() [2/3]

CMultiMetricMap::CMultiMetricMap ( const CMultiMetricMap & o )

Definition at line 192 of file CMultiMetricMap.cpp.

◆ CMultiMetricMap() [3/3]

CMultiMetricMap::CMultiMetricMap ( CMultiMetricMap && o )

Definition at line 204 of file CMultiMetricMap.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ auxParticleFilterCleanUp()

void CMultiMetricMap::auxParticleFilterCleanUp ( )

overridevirtual

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 from mrpt::maps::CMetricMap.

Definition at line 428 of file CMultiMetricMap.cpp.

References MRPT_END, MRPT_START, and MapExecutor::run().

◆ begin() [1/2]

iterator mrpt::maps::CMultiMetricMap::begin ( )

inline

Definition at line 182 of file CMultiMetricMap.h.

References maps.

Referenced by getMapByClass().

◆ begin() [2/2]

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

inline

Definition at line 183 of file CMultiMetricMap.h.

References maps.

◆ 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().

◆ 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::CMultiMetricMap::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ compute3DMatchingRatio()

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

overridevirtual

See the definition in the base class: Calls in this class become a call to every single map in this set.

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 400 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::maps::CMetricMap::compute3DMatchingRatio(), maps, MRPT_END, and MRPT_START.

◆ 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::CMultiMetricMap::Create ( Args &&... args )

inlinestatic

Definition at line 143 of file CMultiMetricMap.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 143 of file CMultiMetricMap.h.

◆ deleteAllMaps()

void CMultiMetricMap::deleteAllMaps ( )

protected

Deletes all maps and clears the internal lists of maps (with clear_unique(), so user copies remain alive)

Definition at line 258 of file CMultiMetricMap.cpp.

References m_ID, and maps.

Referenced by setListOfMaps().

◆ determineMatching2D()

void CMultiMetricMap::determineMatching2D	(	const mrpt::maps::CMetricMap *	otherMap,
		const mrpt::poses::CPose2D &	otherMapPose,
		mrpt::tfest::TMatchingPairList &	correspondences,
		const mrpt::maps::TMatchingParams &	params,
		mrpt::maps::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 343 of file CMultiMetricMap.cpp.

References ASSERTMSG_, m_pointsMaps, MRPT_END, MRPT_START, and mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::size().

◆ 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::CMultiMetricMap::end ( )

inline

Definition at line 184 of file CMultiMetricMap.h.

References maps.

Referenced by getMapByClass().

◆ end() [2/2]

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

inline

Definition at line 185 of file CMultiMetricMap.h.

References maps.

◆ getAs3DObject()

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

overridevirtual

Returns a 3D object representing the map.

Implements mrpt::maps::CMetricMap.

Definition at line 390 of file CMultiMetricMap.cpp.

References MRPT_END, MRPT_START, and MapExecutor::run().

◆ getAsSimplePointsMap() [1/2]

CSimplePointsMap * CMultiMetricMap::getAsSimplePointsMap ( ) const

overridevirtual

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

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 from mrpt::maps::CMetricMap.

Definition at line 440 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::empty(), m_pointsMaps, MRPT_END, MRPT_START, and mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER >::size().

◆ getAsSimplePointsMap() [2/2]

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

overridevirtual

Reimplemented from mrpt::maps::CMetricMap.

◆ getClassName()

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

inlinestaticconstexpr

Definition at line 143 of file CMultiMetricMap.h.

◆ getMapByClass()

template<typename T >

T::Ptr mrpt::maps::CMultiMetricMap::getMapByClass ( const size_t & ith = 0 ) const

inline

Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array.

Example:

CObservationImage::Ptr obs =

m_SF->getObservationByClass<CObservationImage>();

By default (ith=0), the first observation is returned.

Definition at line 199 of file CMultiMetricMap.h.

References begin(), and end().

◆ getMapByIndex()

mrpt::maps::CMetricMap::Ptr CMultiMetricMap::getMapByIndex ( size_t idx ) const

Gets the i-th map.

Exceptions

std::runtime_error On out-of-bounds

Definition at line 462 of file CMultiMetricMap.cpp.

References ASSERT_BELOW_, and maps.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CMultiMetricMap::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::CMultiMetricMap::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()

bool CMultiMetricMap::internal_canComputeObservationLikelihood ( const mrpt::obs::CObservation * obs ) const

overrideprotectedvirtual

Returns true if any of the inner maps is able to compute a sensible likelihood function for this observation.

Parameters

obs	The observation.

See also: computeObservationLikelihood

Reimplemented from mrpt::maps::CMetricMap.

Definition at line 316 of file CMultiMetricMap.cpp.

References MapExecutor::run().

◆ internal_clear()

void CMultiMetricMap::internal_clear ( )

overrideprotectedvirtual

Clear all elements of the map.

Implements mrpt::maps::CMetricMap.

Definition at line 251 of file CMultiMetricMap.cpp.

References MapExecutor::run().

◆ internal_computeObservationLikelihood()

double CMultiMetricMap::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 303 of file CMultiMetricMap.cpp.

References MRPT_CHECK_NORMAL_NUMBER, and MapExecutor::run().

◆ internal_insertObservation()

bool CMultiMetricMap::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 331 of file CMultiMetricMap.cpp.

References MapExecutor::run().

◆ 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 CMultiMetricMap::isEmpty ( ) const

overridevirtual

Returns true if all maps returns true to their isEmpty() method, which is map-dependent.

Read the docs of each map class

Implements mrpt::maps::CMetricMap.

Definition at line 360 of file CMultiMetricMap.cpp.

References MapExecutor::run().

◆ 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().

◆ 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::CMultiMetricMap::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 143 of file CMultiMetricMap.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 143 of file CMultiMetricMap.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 143 of file CMultiMetricMap.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 143 of file CMultiMetricMap.h.

◆ operator new() [1/3]

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

inline

Definition at line 143 of file CMultiMetricMap.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 143 of file CMultiMetricMap.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 143 of file CMultiMetricMap.h.

◆ operator new[]()

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

inline

Definition at line 143 of file CMultiMetricMap.h.

◆ operator=() [1/2]

CMultiMetricMap & CMultiMetricMap::operator= ( CMultiMetricMap && o )

Definition at line 209 of file CMultiMetricMap.cpp.

References m_ID, and maps.

◆ operator=() [2/2]

CMultiMetricMap & CMultiMetricMap::operator= ( const CMultiMetricMap & o )

Definition at line 197 of file CMultiMetricMap.cpp.

References m_ID, and maps.

◆ 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().

◆ saveMetricMapRepresentationToFile()

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

overridevirtual

The implementation in this class just calls all the corresponding method of the contained metric maps.

Implements mrpt::maps::CMetricMap.

Definition at line 368 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::rtti::TRuntimeClassId::className, mrpt::format(), mrpt::maps::CMetricMap::GetRuntimeClass(), maps, MRPT_END, MRPT_START, and mrpt::maps::CMetricMap::saveMetricMapRepresentationToFile().

◆ serializeFrom()

void CMultiMetricMap::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 274 of file CMultiMetricMap.cpp.

References m_ID, maps, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CMultiMetricMap::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 265 of file CMultiMetricMap.cpp.

◆ serializeTo()

void CMultiMetricMap::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 266 of file CMultiMetricMap.cpp.

References m_ID, and maps.

◆ setListOfMaps() [1/2]

void mrpt::maps::CMultiMetricMap::setListOfMaps ( const mrpt::maps::TSetOfMetricMapInitializers & initializers )

inline

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 431 of file CMultiMetricMap.h.

References setListOfMaps().

◆ setListOfMaps() [2/2]

void CMultiMetricMap::setListOfMaps ( const mrpt::maps::TSetOfMetricMapInitializers * initializers )

Sets the list of internal map according to the passed list of map initializers (Current maps' content will be deleted!)

Definition at line 219 of file CMultiMetricMap.cpp.

References ASSERT_, mrpt::maps::TSetOfMetricMapInitializers::begin(), deleteAllMaps(), mrpt::maps::TSetOfMetricMapInitializers::end(), mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), mrpt::maps::internal::TMetricMapTypesRegistry::Instance(), maps, MRPT_END, and MRPT_START.

Referenced by CMultiMetricMap(), mrpt::slam::CMetricMapBuilderICP::initialize(), run_test_pf_localization(), and setListOfMaps().

◆ 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_CMultiMetricMap

mrpt::rtti::CLASSINIT mrpt::maps::CMultiMetricMap::_init_CMultiMetricMap

staticprotected

Definition at line 143 of file CMultiMetricMap.h.

◆ className

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

staticconstexpr

Definition at line 143 of file CMultiMetricMap.h.

◆ genericMapParams

TMapGenericParams mrpt::maps::CMetricMap::genericMapParams

inherited

Common params to all maps.

Definition at line 282 of file CMetricMap.h.

◆ m_beaconMap

ProxySelectorContainerByClass<mrpt::maps::CBeaconMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_beaconMap

Proxy that looks like a smart pointer to the first matching object in maps.

Definition at line 408 of file CMultiMetricMap.h.

◆ m_colourOctoMaps

ProxyFilterContainerByClass<mrpt::maps::CColouredOctoMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_colourOctoMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 371 of file CMultiMetricMap.h.

◆ m_colourPointsMap

ProxySelectorContainerByClass< mrpt::maps::CColouredPointsMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_colourPointsMap

Proxy that looks like a smart pointer to the first matching object in maps.

Definition at line 395 of file CMultiMetricMap.h.

◆ m_gasGridMaps

ProxyFilterContainerByClass< mrpt::maps::CGasConcentrationGridMap2D::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_gasGridMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 375 of file CMultiMetricMap.h.

◆ m_gridMaps

ProxyFilterContainerByClass<mrpt::maps::COccupancyGridMap2D::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_gridMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 365 of file CMultiMetricMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::detectors::CDetectorDoorCrossing::process(), mrpt::slam::CMetricMapBuilderICP::processObservation(), run_test_pf_localization(), and mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage().

◆ m_heightMaps

ProxyFilterContainerByClass<mrpt::maps::CHeightGridMap2D::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_heightMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 382 of file CMultiMetricMap.h.

◆ m_heightMRFMaps

ProxyFilterContainerByClass< mrpt::maps::CHeightGridMap2D_MRF::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_heightMRFMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 386 of file CMultiMetricMap.h.

◆ m_ID

unsigned int mrpt::maps::CMultiMetricMap::m_ID

An auxiliary variable that can be used freely by the users (this will be copied to other maps using the copy constructor, copy operator, streaming,etc) The default value is 0.

Definition at line 485 of file CMultiMetricMap.h.

Referenced by deleteAllMaps(), operator=(), serializeFrom(), and serializeTo().

◆ m_landmarksMap

ProxySelectorContainerByClass<mrpt::maps::CLandmarksMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_landmarksMap

Proxy that looks like a smart pointer to the first matching object in maps.

Definition at line 404 of file CMultiMetricMap.h.

◆ m_octoMaps

ProxyFilterContainerByClass<mrpt::maps::COctoMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_octoMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 368 of file CMultiMetricMap.h.

◆ m_pointsMaps

ProxyFilterContainerByClass<mrpt::maps::CSimplePointsMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_pointsMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 362 of file CMultiMetricMap.h.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), determineMatching2D(), getAsSimplePointsMap(), mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), mrpt::detectors::CDetectorDoorCrossing::process(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ m_reflectivityMaps

ProxyFilterContainerByClass< mrpt::maps::CReflectivityGridMap2D::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_reflectivityMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 390 of file CMultiMetricMap.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().

◆ m_weightedPointsMap

ProxySelectorContainerByClass< mrpt::maps::CWeightedPointsMap::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_weightedPointsMap

Proxy that looks like a smart pointer to the first matching object in maps.

Definition at line 400 of file CMultiMetricMap.h.

◆ m_wifiGridMaps

ProxyFilterContainerByClass< mrpt::maps::CWirelessPowerGridMap2D::Ptr, TListMaps> mrpt::maps::CMultiMetricMap::m_wifiGridMaps

STL-like proxy to access this kind of maps in maps.

Definition at line 379 of file CMultiMetricMap.h.

◆ maps

TListMaps mrpt::maps::CMultiMetricMap::maps

The list of MRPT metric maps in this object.

Use dynamic_cast or smart pointer-based downcast to access maps by their actual type. You can directly manipulate this list. Helper methods to initialize it are described in the docs of CMultiMetricMap

Definition at line 178 of file CMultiMetricMap.h.

Referenced by begin(), compute3DMatchingRatio(), deleteAllMaps(), end(), getMapByIndex(), operator=(), saveMetricMapRepresentationToFile(), serializeFrom(), serializeTo(), and setListOfMaps().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CMultiMetricMap::runtimeClassId

staticprotected

Definition at line 143 of file CMultiMetricMap.h.

Detailed Description

Configuring the list of maps: Alternatives

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

RTTI stuff

Access to internal list of maps: direct list, iterators, utility

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ TListMaps

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMultiMetricMap() [1/3]

◆ CMultiMetricMap() [2/3]

◆ CMultiMetricMap() [3/3]

Member Function Documentation

◆ _GetBaseClass()

◆ auxParticleFilterCleanUp()

◆ begin() [1/2]

◆ begin() [2/2]

◆ canComputeObservationLikelihood() [1/2]

◆ canComputeObservationLikelihood() [2/2]

◆ canComputeObservationsLikelihood()

◆ clear()

◆ clone()

◆ compute3DMatchingRatio()

◆ computeObservationLikelihood() [1/2]

◆ computeObservationLikelihood() [2/2]

◆ computeObservationsLikelihood()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ deleteAllMaps()

◆ determineMatching2D()

◆ determineMatching3D()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ getAs3DObject()

◆ getAsSimplePointsMap() [1/2]

◆ getAsSimplePointsMap() [2/2]

◆ getClassName()

◆ getMapByClass()

◆ getMapByIndex()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ hasSubscribers()

◆ insertObservation()

◆ insertObservationPtr()

◆ internal_canComputeObservationLikelihood()

◆ internal_clear()

◆ internal_computeObservationLikelihood()

◆ internal_insertObservation()

◆ internal_observer_begin()

◆ internal_observer_end()

◆ isEmpty()

◆ loadFromProbabilisticPosesAndObservations()

◆ loadFromSimpleMap()

◆ 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]

◆ operator new[]()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ publishEvent()

◆ saveMetricMapRepresentationToFile()

◆ serializeFrom()