Detailed Description

CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class.

This class implements a Gaussian Markov Random Field (GMRF) estimator, with each voxel being connected to its 6 immediate neighbors (Up, down, left, right, front, back).

See papers:
- "Time-variant gas distribution mapping with obstacle information", Monroy, J. G., Blanco, J. L., & Gonzalez-Jimenez, J. Autonomous Robots, 40(1), 1-16, 2016.

Note that this class does not derive from mrpt::maps::CMetricMap since the estimated values do not have sensor-especific semantics, i.e. the grid can be used to estimate temperature, gas concentration, etc.

Usage:

Define grid size with either constructor or via setSize().
Initialize the map with initialize(). This resets the contents of the map, so previously-added observations will be lost.
Add observations of 3D voxels with insertIndividualReading()

Custom connectivity patterns can be defined with setVoxelsConnectivity().

See also: mrpt::maps::CRandomFieldGridMap3D

Note: [New in MRPT 1.5.0]

Definition at line 78 of file CRandomFieldGridMap3D.h.

#include <mrpt/maps/CRandomFieldGridMap3D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap3D:

Classes
struct	ConnectivityDescriptor
	Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph. More...

struct	TInsertionOptions
	Parameters common to any derived class. More...

struct	TObservationGMRF

struct	TPriorFactorGMRF

Public Types
enum	TVoxelInterpolationMethod { gimNearest = 0, gimBilinear }

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

	CRandomFieldGridMap3D (double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double z_min=-2, double z_max=2, double voxel_size=0.5, bool call_initialize_now=true)
	Constructor. More...

void	clear () override
	Erases all added observations and start again with an empty gridmap. More...

bool	saveAsCSV (const std::string &filName_mean, const std::string &filName_stddev=std::string()) const
	Save the current estimated mean values to a CSV file (compatible with Paraview) with fields `x y z mean_value`. More...

bool	saveAsVtkStructuredGrid (const std::string &fil) const
	Save the current estimated grid to a VTK file (.vts) as a "structured grid". More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewvoxels, double additionalMarginMeters=2.0) override
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z=-1.0, const TRandomFieldVoxel *fill_value=nullptr) override
	Changes the size of the grid, erasing previous contents.If `resolution_z`<0, the same resolution will be used for all dimensions x,y,z as given in `resolution_xy` More...

void	setVoxelsConnectivity (const ConnectivityDescriptor::Ptr &new_connectivity_descriptor)
	Sets a custom object to define the connectivity between voxels. More...

bool	insertIndividualReading (const double sensorReading, const double sensorVariance, const mrpt::math::TPoint3D &point, const TVoxelInterpolationMethod method, const bool update_map)
	Direct update of the map with a reading in a given position of the map. More...

void	updateMapEstimation ()
	Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions. More...

void	getAsVtkStructuredGrid (vtkStructuredGrid *output, const std::string &label_mean=std::string("mean"), const std::string &label_stddev=std::string("stddev")) const
	Returns the 3D grid contents as an VTK grid. More...

virtual void	resize (double new_x_min, double new_x_max, double new_y_min, double new_y_max, double new_z_min, double new_z_max, const TRandomFieldVoxel &defaultValueNewCells, double additionalMarginMeters=2.0)
	Changes the size of the grid, maintaining previous contents. More...

virtual void	setSize (const double x_min, const double x_max, const double y_min, const double y_max, const double z_min, const double z_max, const double resolution_xy, const double resolution_z_=-1.0, const TRandomFieldVoxel *fill_value=nullptr)
	Changes the size of the grid, ERASING all previous contents. More...

void	fill (const TRandomFieldVoxel &value)
	Fills all the cells with the same value. More...

size_t	cellAbsIndexFromCXCYCZ (const int cx, const int cy, const int cz) const
	Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension). More...

TRandomFieldVoxel *	cellByPos (double x, double y, double z)
	Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions. More...

const TRandomFieldVoxel *	cellByPos (double x, double y, double z) const
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz)
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

const TRandomFieldVoxel *	cellByIndex (unsigned int cx, unsigned int cy, unsigned int cz) const
	Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions. More...

size_t	getSizeX () const

size_t	getSizeY () const

size_t	getSizeZ () const

size_t	getVoxelCount () const

double	getXMin () const

double	getXMax () const

double	getYMin () const

double	getYMax () const

double	getZMin () const

double	getZMax () const

double	getResolutionXY () const

double	getResolutionZ () const

int	x2idx (double x) const
	Transform a coordinate values into voxel indexes. More...

int	y2idx (double y) const

int	z2idx (double z) const

double	idx2x (int cx) const
	Transform a voxel index into a coordinate value of the voxel central point. More...

double	idx2y (int cy) const

double	idx2z (int cz) const

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
TInsertionOptions	insertionOptions

Static Public Attributes
static bool	ENABLE_GMRF_PROFILER
	[default:false] Enables a profiler to show a performance report at application end. More...

static const size_t	INVALID_VOXEL_IDX

static mrpt::system::TConsoleColor	logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::string	logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
	Map from VerbosityLevels to their corresponding names. More...

Protected Member Functions
void	internal_initialize (bool erase_prev_contents=true)
	Internal: called called after each change of resolution, size, etc. More...

std::vector< TRandomFieldVoxel > &	m_map_castaway_const () const
	Used only from logically const method that really need to modify the object. More...

void	dyngridcommon_writeToStream (ARCHIVE &out) const
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) More...

void	dyngridcommon_readFromStream (ARCHIVE &in)
	Serialization of all parameters, except the contents of each voxel (responsability of the derived class) 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
ConnectivityDescriptor::Ptr	m_gmrf_connectivity
	Empty: default. More...

mrpt::graphs::ScalarFactorGraph	m_gmrf

std::vector< std::deque< TObservationGMRF > >	m_mrf_factors_activeObs
	Vector with the active observations and their respective Information, for each map cell. More...

std::deque< TPriorFactorGMRF >	m_mrf_factors_priors
	Vector with the precomputed priors for each GMRF model. More...

std::vector< TRandomFieldVoxel >	m_map
	The cells. More...

double	m_x_min

double	m_x_max

double	m_y_min

double	m_y_max

double	m_z_min

double	m_z_max

double	m_resolution_xy

double	m_resolution_z

size_t	m_size_x

size_t	m_size_y

size_t	m_size_z

size_t	m_size_x_times_y

VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Types
using	BASE = mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >

Private Member Functions
std::string	generateStringFromFormat (const char *fmt, va_list argp) const
	Helper method for generating a std::string instance from printf-like arguments. More...

Private Attributes
std::string	m_logger_name

std::deque< TMsg >	m_history

std::deque< output_logger_callback_t >	m_listCallbacks

RTTI stuff

using	Ptr = std::shared_ptr< CRandomFieldGridMap3D >

using	ConstPtr = std::shared_ptr< const CRandomFieldGridMap3D >

using	UniquePtr = std::unique_ptr< CRandomFieldGridMap3D >

using	ConstUniquePtr = std::unique_ptr< const CRandomFieldGridMap3D >

static mrpt::rtti::CLASSINIT	_init_CRandomFieldGridMap3D

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CRandomFieldGridMap3D"

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...

Logging methods
bool	logging_enable_console_output
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=NULL) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Member Typedef Documentation

◆ BASE

using mrpt::maps::CRandomFieldGridMap3D::BASE = mrpt::containers::CDynamicGrid3D<TRandomFieldVoxel>

private

Definition at line 83 of file CRandomFieldGridMap3D.h.

◆ ConstPtr

using mrpt::maps::CRandomFieldGridMap3D::ConstPtr = std::shared_ptr<const CRandomFieldGridMap3D >

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ ConstUniquePtr

using mrpt::maps::CRandomFieldGridMap3D::ConstUniquePtr = std::unique_ptr<const CRandomFieldGridMap3D >

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ Ptr

using mrpt::maps::CRandomFieldGridMap3D::Ptr = std::shared_ptr< CRandomFieldGridMap3D >

A type for the associated smart pointer

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ UniquePtr

using mrpt::maps::CRandomFieldGridMap3D::UniquePtr = std::unique_ptr< CRandomFieldGridMap3D >

Definition at line 85 of file CRandomFieldGridMap3D.h.

Member Enumeration Documentation

◆ TVoxelInterpolationMethod

enum mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod

Enumerator
gimNearest
gimBilinear

Definition at line 202 of file CRandomFieldGridMap3D.h.

Constructor & Destructor Documentation

◆ CRandomFieldGridMap3D()

CRandomFieldGridMap3D::CRandomFieldGridMap3D	(	double	x_min = `-2`,
		double	x_max = `2`,
		double	y_min = `-2`,
		double	y_max = `2`,
		double	z_min = `-2`,
		double	z_max = `2`,
		double	voxel_size = `0.5`,
		bool	call_initialize_now = `true`
	)

Constructor.

If you set call_initialize_now to false, the object will be initialized immediately (without the heavy initialization of the GMRF), but you then must call setSize() or clear() later to properly initialize the object before using it to insert observations.

Definition at line 39 of file CRandomFieldGridMap3D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::_GetBaseClass ( )

staticprotected

◆ cellAbsIndexFromCXCYCZ()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ	(	const int	cx,
		const int	cy,
		const int	cz
	)		const

inlineinherited

Gets the absolute index of a voxel in the linear container m_map[] from its cx,cy,cz indices, or -1 if out of map bounds (in any dimension).

See also: x2idx(), y2idx(), z2idx()

Definition at line 232 of file CDynamicGrid3D.h.

◆ cellByIndex() [1/2]

TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 266 of file CDynamicGrid3D.h.

◆ cellByIndex() [2/2]

const TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByIndex	(	unsigned int	cx,
		unsigned int	cy,
		unsigned int	cz
	)		const

inlineinherited

Returns a pointer to the contents of a voxel given by its voxel indexes, or nullptr if it is out of the map extensions.

Definition at line 276 of file CDynamicGrid3D.h.

◆ cellByPos() [1/2]

TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos	(	double	x,
		double	y,
		double	z
	)

inlineinherited

Returns a pointer to the contents of a voxel given by its coordinates, or nullptr if it is out of the map extensions.

Definition at line 247 of file CDynamicGrid3D.h.

◆ cellByPos() [2/2]

const TRandomFieldVoxel * mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellByPos	(	double	x,
		double	y,
		double	z
	)		const

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 255 of file CDynamicGrid3D.h.

◆ clear()

void CRandomFieldGridMap3D::clear ( )

overridevirtual

Erases all added observations and start again with an empty gridmap.

Reimplemented from mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >.

Definition at line 83 of file CRandomFieldGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< T >::clear().

◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CRandomFieldGridMap3D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::CRandomFieldGridMap3D::Create ( Args &&... args )

inlinestatic

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::maps::CRandomFieldGridMap3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CRandomFieldGridMap3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 179 of file COutputLogger.cpp.

◆ 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().

◆ dyngridcommon_readFromStream()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream ( ARCHIVE & in )

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 338 of file CDynamicGrid3D.h.

◆ dyngridcommon_writeToStream()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream ( ARCHIVE & out ) const

inlineprotectedinherited

Serialization of all parameters, except the contents of each voxel (responsability of the derived class)

Definition at line 327 of file CDynamicGrid3D.h.

◆ fill()

void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::fill ( const TRandomFieldVoxel & value )

inlineinherited

Fills all the cells with the same value.

Definition at line 220 of file CDynamicGrid3D.h.

◆ generateStringFromFormat()

std::string COutputLogger::generateStringFromFormat	(	const char *	fmt,
		va_list	argp
	)		const

privateinherited

Helper method for generating a std::string instance from printf-like arguments.

Definition at line 99 of file COutputLogger.cpp.

References mrpt::system::os::vsnprintf().

◆ getAsVtkStructuredGrid()

void CRandomFieldGridMap3D::getAsVtkStructuredGrid	(	vtkStructuredGrid *	output,
		const std::string &	label_mean = `std::string("mean")`,
		const std::string &	label_stddev = `std::string("stddev")`
	)		const

Returns the 3D grid contents as an VTK grid.

Definition at line 443 of file CRandomFieldGridMap3D.cpp.

Referenced by saveAsVtkStructuredGrid().

◆ getClassName()

static constexpr auto mrpt::maps::CRandomFieldGridMap3D::getClassName ( )

inlinestaticconstexpr

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ getLogAsString() [1/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 148 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

◆ getLogAsString() [2/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 143 of file COutputLogger.cpp.

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 184 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 132 of file COutputLogger.cpp.

Referenced by mrpt::system::COutputLogger::TMsg::TMsg().

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ getResolutionXY()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionXY

inlineinherited

Definition at line 294 of file CDynamicGrid3D.h.

◆ getResolutionZ()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getResolutionZ

inlineinherited

Definition at line 295 of file CDynamicGrid3D.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::maps::CRandomFieldGridMap3D::GetRuntimeClassIdStatic ( )

static

◆ getSizeX()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeX

inlineinherited

Definition at line 284 of file CDynamicGrid3D.h.

◆ getSizeY()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeY

inlineinherited

Definition at line 285 of file CDynamicGrid3D.h.

◆ getSizeZ()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getSizeZ

inlineinherited

Definition at line 286 of file CDynamicGrid3D.h.

◆ getVoxelCount()

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getVoxelCount

inlineinherited

Definition at line 287 of file CDynamicGrid3D.h.

◆ getXMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getXMax

inlineinherited

Definition at line 289 of file CDynamicGrid3D.h.

◆ getXMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getXMin

inlineinherited

Definition at line 288 of file CDynamicGrid3D.h.

◆ getYMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getYMax

inlineinherited

Definition at line 291 of file CDynamicGrid3D.h.

◆ getYMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getYMin

inlineinherited

Definition at line 290 of file CDynamicGrid3D.h.

◆ getZMax()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getZMax

inlineinherited

Definition at line 293 of file CDynamicGrid3D.h.

◆ getZMin()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::getZMin

inlineinherited

Definition at line 292 of file CDynamicGrid3D.h.

◆ idx2x()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2x ( int cx ) const

inlineinherited

Transform a voxel index into a coordinate value of the voxel central point.

Definition at line 312 of file CDynamicGrid3D.h.

◆ idx2y()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2y ( int cy ) const

inlineinherited

Definition at line 313 of file CDynamicGrid3D.h.

◆ idx2z()

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2z ( int cz ) const

inlineinherited

Definition at line 314 of file CDynamicGrid3D.h.

◆ insertIndividualReading()

bool CRandomFieldGridMap3D::insertIndividualReading	(	const double	sensorReading,
		const double	sensorVariance,
		const mrpt::math::TPoint3D &	point,
		const TVoxelInterpolationMethod	method,
		const bool	update_map
	)

Direct update of the map with a reading in a given position of the map.

Returns: false if point is out of the grid extension.

Parameters

[in]	sensorReading	[in] The value observed in the (x,y,z) position
[in]	sensorVariance	[in] The variance of the sensor observation
[in]	point	[in] The (x,y,z) location
[in]	method	[in] Voxel interpolation method: how many voxels will be affected by the reading
[in]	update_map	[in] Run a global map update after inserting this observation (algorithm-dependant)

Definition at line 340 of file CRandomFieldGridMap3D.cpp.

References mrpt::graphs::ScalarFactorGraph::addConstraint(), ASSERT_ABOVE_, ASSERTMSG_, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::cellAbsIndexFromCXCYCZ(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::Lambda, m_gmrf, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, MRPT_END, MRPT_START, mrpt::graphs::ScalarFactorGraph::UnaryFactorVirtualBase::node_id, mrpt::maps::CRandomFieldGridMap3D::TObservationGMRF::obsValue, updateMapEstimation(), mrpt::math::TPoint3D::x, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::x2idx(), mrpt::math::TPoint3D::y, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::y2idx(), mrpt::math::TPoint3D::z, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::z2idx().

Referenced by TEST().

◆ internal_initialize()

void CRandomFieldGridMap3D::internal_initialize ( bool erase_prev_contents = true )

protected

Internal: called called after each change of resolution, size, etc.

to build the prior factor information

Definition at line 89 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERT_EQUAL_, fill(), mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation(), mrpt::maps::CRandomFieldGridMap3D::TPriorFactorGMRF::Lambda, MRPT_LOG_DEBUG_STREAM, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_i, mrpt::graphs::ScalarFactorGraph::BinaryFactorVirtualBase::node_id_j, mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 120 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 287 of file COutputLogger.cpp.

References getAddress().

◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
 
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 80 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 274 of file COutputLogger.cpp.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 61 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ m_map_castaway_const()

std::vector<TRandomFieldVoxel >& mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map_castaway_const

inlineprotectedinherited

Used only from logically const method that really need to modify the object.

Definition at line 320 of file CDynamicGrid3D.h.

◆ operator delete() [1/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete() [2/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete() [3/3]

void mrpt::maps::CRandomFieldGridMap3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator delete[]()

void mrpt::maps::CRandomFieldGridMap3D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [1/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new ( size_t size )

inline

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [2/3]

void* mrpt::maps::CRandomFieldGridMap3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new() [3/3]

static void* mrpt::maps::CRandomFieldGridMap3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ operator new[]()

void* mrpt::maps::CRandomFieldGridMap3D::operator new[] ( size_t size )

inline

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ resize() [1/2]

virtual void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		double	new_z_min,
		double	new_z_max,
		const TRandomFieldVoxel &	defaultValueNewCells,
		double	additionalMarginMeters = `2.0`
	)

inlinevirtualinherited

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 45 of file CDynamicGrid3D.h.

◆ resize() [2/2]

void CRandomFieldGridMap3D::resize	(	double	new_x_min,
		double	new_x_max,
		double	new_y_min,
		double	new_y_max,
		double	new_z_min,
		double	new_z_max,
		const TRandomFieldVoxel &	defaultValueNewvoxels,
		double	additionalMarginMeters = `2.0`
	)

overridevirtual

Changes the size of the grid, maintaining previous contents.

See also: setSize

Definition at line 67 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::resize().

Referenced by TEST().

◆ saveAsCSV()

bool mrpt::maps::CRandomFieldGridMap3D::saveAsCSV	(	const std::string &	filName_mean,
		const std::string &	filName_stddev = `std::string()`
	)		const

Save the current estimated mean values to a CSV file (compatible with Paraview) with fields x y z mean_value.

Optionally, std deviations can be also saved to another file with fields x y z stddev_value, if filName_stddev is provided.

Returns: false on error writing to file

See also: saveAsVtkStructuredGrid

Definition at line 254 of file CRandomFieldGridMap3D.cpp.

References mrpt::format(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2x(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2y(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::idx2z(), mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x, and mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y.

Referenced by TEST().

◆ saveAsVtkStructuredGrid()

bool CRandomFieldGridMap3D::saveAsVtkStructuredGrid ( const std::string & fil ) const

Save the current estimated grid to a VTK file (.vts) as a "structured grid".

See also: saveAsCSV

Definition at line 223 of file CRandomFieldGridMap3D.cpp.

References getAsVtkStructuredGrid(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by TEST().

◆ serializeFrom()

void CRandomFieldGridMap3D::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 408 of file CRandomFieldGridMap3D.cpp.

References ASSERT_EQUAL_, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_readFromStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CRandomFieldGridMap3D::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 381 of file CRandomFieldGridMap3D.cpp.

◆ serializeTo()

void CRandomFieldGridMap3D::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 382 of file CRandomFieldGridMap3D.cpp.

References mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::dyngridcommon_writeToStream(), mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_lambdaPrior, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, and mrpt::serialization::CArchive::WriteBuffer().

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 127 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 133 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setSize() [1/2]

void CRandomFieldGridMap3D::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	z_min,
		const double	z_max,
		const double	resolution_xy,
		const double	resolution_z = `-1.0`,
		const TRandomFieldVoxel *	fill_value = `nullptr`
	)

overridevirtual

Changes the size of the grid, erasing previous contents.If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

Changes the size of the grid, erasing previous contents.

See also: resize.

Definition at line 51 of file CRandomFieldGridMap3D.cpp.

References MRPT_END, MRPT_START, and setSize().

Referenced by TEST().

◆ setSize() [2/2]

virtual void mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::setSize	(	const double	x_min,
		const double	x_max,
		const double	y_min,
		const double	y_max,
		const double	z_min,
		const double	z_max,
		const double	resolution_xy,
		const double	resolution_z_ = `-1.0`,
		const TRandomFieldVoxel *	fill_value = `nullptr`
	)

inlinevirtualinherited

Changes the size of the grid, ERASING all previous contents.

If fill_value is left as nullptr, the contents of cells may be undefined (some will remain with their old values, the new ones will have the default voxel value, but the location of old values may change wrt their old places). If fill_value is not nullptr, it is assured that all cells will have a copy of that value after resizing. If resolution_z<0, the same resolution will be used for all dimensions x,y,z as given in resolution_xy

See also: resize, fill

Definition at line 172 of file CDynamicGrid3D.h.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

◆ setVoxelsConnectivity()

void mrpt::maps::CRandomFieldGridMap3D::setVoxelsConnectivity ( const ConnectivityDescriptor::Ptr & new_connectivity_descriptor )

Sets a custom object to define the connectivity between voxels.

Must call clear() or setSize() afterwards for the changes to take place.

Definition at line 334 of file CRandomFieldGridMap3D.cpp.

References m_gmrf_connectivity.

◆ updateMapEstimation()

void CRandomFieldGridMap3D::updateMapEstimation ( )

Run the method-specific procedure required to ensure that the mean & variances are up-to-date with all inserted observations, using parameters in insertionOptions.

Definition at line 310 of file CRandomFieldGridMap3D.cpp.

References ASSERT_, ASSERTMSG_, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions::GMRF_skip_variance, insertionOptions, m_gmrf, mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map, m_mrf_factors_activeObs, and mrpt::graphs::ScalarFactorGraph::updateEstimation().

Referenced by insertIndividualReading(), and TEST().

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = NULL ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

◆ 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.

◆ x2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::x2idx ( double x ) const

inlineinherited

Transform a coordinate values into voxel indexes.

Definition at line 297 of file CDynamicGrid3D.h.

◆ y2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::y2idx ( double y ) const

inlineinherited

Definition at line 301 of file CDynamicGrid3D.h.

◆ z2idx()

int mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::z2idx ( double z ) const

inlineinherited

Definition at line 305 of file CDynamicGrid3D.h.

Member Data Documentation

◆ _init_CRandomFieldGridMap3D

mrpt::rtti::CLASSINIT mrpt::maps::CRandomFieldGridMap3D::_init_CRandomFieldGridMap3D

staticprotected

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ className

constexpr const char* mrpt::maps::CRandomFieldGridMap3D::className = "CRandomFieldGridMap3D"

staticconstexpr

Definition at line 85 of file CRandomFieldGridMap3D.h.

◆ ENABLE_GMRF_PROFILER

bool mrpt::maps::CRandomFieldGridMap3D::ENABLE_GMRF_PROFILER

static

[default:false] Enables a profiler to show a performance report at application end.

Definition at line 89 of file CRandomFieldGridMap3D.h.

◆ insertionOptions

TInsertionOptions mrpt::maps::CRandomFieldGridMap3D::insertionOptions

See also: updateMapEstimation()

Definition at line 152 of file CRandomFieldGridMap3D.h.

Referenced by serializeFrom(), serializeTo(), TEST(), and updateMapEstimation().

◆ INVALID_VOXEL_IDX

const size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::INVALID_VOXEL_IDX

staticinherited

Definition at line 227 of file CDynamicGrid3D.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors

staticinherited

Initial value:

= {
                CONCOL_BLUE,  
                CONCOL_NORMAL,  
                CONCOL_GREEN,  
                CONCOL_RED  
}

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Implementation file for the COutputLogger header class.

Handy for coloring the input based on the verbosity of the message

Definition at line 124 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names

staticinherited

Initial value:

=
        {
                "DEBUG",  
                "INFO ",  
                "WARN ",  
                "ERROR"  
}

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 129 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ m_gmrf

mrpt::graphs::ScalarFactorGraph mrpt::maps::CRandomFieldGridMap3D::m_gmrf

protected

Definition at line 244 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

◆ m_gmrf_connectivity

ConnectivityDescriptor::Ptr mrpt::maps::CRandomFieldGridMap3D::m_gmrf_connectivity

protected

Empty: default.

Definition at line 242 of file CRandomFieldGridMap3D.h.

Referenced by setVoxelsConnectivity().

◆ m_history

std::deque<TMsg> mrpt::system::COutputLogger::m_history

mutableprivateinherited

Definition at line 312 of file system/COutputLogger.h.

◆ m_listCallbacks

std::deque<output_logger_callback_t> mrpt::system::COutputLogger::m_listCallbacks

privateinherited

Definition at line 314 of file system/COutputLogger.h.

◆ m_logger_name

std::string mrpt::system::COutputLogger::m_logger_name

privateinherited

Definition at line 310 of file system/COutputLogger.h.

◆ m_map

std::vector<TRandomFieldVoxel > mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_map

mutableprotectedinherited

The cells.

Definition at line 317 of file CDynamicGrid3D.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_mrf_factors_activeObs

std::vector<std::deque<TObservationGMRF> > mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_activeObs

protected

Vector with the active observations and their respective Information, for each map cell.

Definition at line 288 of file CRandomFieldGridMap3D.h.

Referenced by insertIndividualReading(), and updateMapEstimation().

◆ m_mrf_factors_priors

std::deque<TPriorFactorGMRF> mrpt::maps::CRandomFieldGridMap3D::m_mrf_factors_priors

protected

Vector with the precomputed priors for each GMRF model.

Definition at line 290 of file CRandomFieldGridMap3D.h.

◆ m_resolution_xy

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_xy

protectedinherited

Definition at line 322 of file CDynamicGrid3D.h.

◆ m_resolution_z

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_resolution_z

protectedinherited

Definition at line 322 of file CDynamicGrid3D.h.

◆ m_size_x

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x

protectedinherited

Definition at line 323 of file CDynamicGrid3D.h.

◆ m_size_x_times_y

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_x_times_y

protectedinherited

Definition at line 323 of file CDynamicGrid3D.h.

◆ m_size_y

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_y

protectedinherited

Definition at line 323 of file CDynamicGrid3D.h.

◆ m_size_z

size_t mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_size_z

protectedinherited

Definition at line 323 of file CDynamicGrid3D.h.

◆ m_x_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_x_max

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ m_x_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_x_min

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ m_y_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_y_max

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ m_y_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_y_min

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ m_z_max

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_z_max

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ m_z_min

double mrpt::containers::CDynamicGrid3D< TRandomFieldVoxel >::m_z_min

protectedinherited

Definition at line 321 of file CDynamicGrid3D.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CRandomFieldGridMap3D::runtimeClassId

staticprotected

Definition at line 85 of file CRandomFieldGridMap3D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

RTTI stuff

Logging methods

Member Typedef Documentation

◆ BASE

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TVoxelInterpolationMethod

Constructor & Destructor Documentation

◆ CRandomFieldGridMap3D()

Member Function Documentation

◆ _GetBaseClass()

◆ cellAbsIndexFromCXCYCZ()

◆ cellByIndex() [1/2]

◆ cellByIndex() [2/2]

◆ cellByPos() [1/2]

◆ cellByPos() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ dyngridcommon_readFromStream()

◆ dyngridcommon_writeToStream()

◆ fill()

◆ generateStringFromFormat()

◆ getAsVtkStructuredGrid()

◆ getClassName()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getResolutionXY()

◆ getResolutionZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSizeX()

◆ getSizeY()

◆ getSizeZ()

◆ getVoxelCount()

◆ getXMax()

◆ getXMin()

◆ getYMax()

◆ getYMin()

◆ getZMax()

◆ getZMin()

◆ idx2x()

◆ idx2y()

◆ idx2z()

◆ insertIndividualReading()

◆ internal_initialize()

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logRegisterCallback()

◆ logStr()

◆ m_map_castaway_const()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]