10 #ifndef CHeightGridMap2D_H
11 #define CHeightGridMap2D_H
84 double x_min = -2,
double x_max = 2,
85 double y_min = -2,
double y_max = 2,
86 double resolution = 0.1
124 virtual
bool dem_get_z_by_cell(const
size_t cx, const
size_t cy,
double &z_out) const
MRPT_OVERRIDE;
125 virtual
bool dem_get_z(const
double x, const
double y,
double &z_out) const
MRPT_OVERRIDE;
132 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
133 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
136 double min_x,max_x,min_y,max_y,resolution;
145 namespace global_settings
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
Virtual base class for Digital Elevation Model (DEM) maps.
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated h...
virtual bool insertIndividualPoint(const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams ¶ms=CHeightGridMap2D_Base::TPointInsertParams()) MRPT_OVERRIDE
Update the DEM with one new point.
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Returns a 3D object representing the map: by default, it will be a mrpt::opengl::CMesh object,...
TMapRepresentation getMapType()
Return the type of the gas distribution map, according to parameters passed on construction.
void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const MRPT_OVERRIDE
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >,...
void clear()
Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both bas...
float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const MRPT_OVERRIDE
See docs in base class: in this class it always returns 0.
size_t countObservedCells() const
Return the number of cells with at least one height data inserted.
float cell2float(const THeightGridmapCell &c) const MRPT_OVERRIDE
bool isEmpty() const MRPT_OVERRIDE
Returns true if the map is empty/no observation has been inserted.
TMapRepresentation
The type of map representation to be used.
CHeightGridMap2D(TMapRepresentation mapType=mrSimpleAverage, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
Declares a virtual base class for all metric maps storage classes.
void clear()
Erase all the contents of the map.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
A 2D grid of dynamic size which stores any kind of data at each cell.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
TColormap
Different colormaps.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
MAPS_IMPEXP bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH
If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Parameters related with inserting observations into the map.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
bool filterByHeight
Whether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the ...
TInsertionOptions()
Default values loader.
mrpt::utils::TColormap colorMap
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
float z_max
Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter.
Extra params for insertIndividualPoint()
The contents of each cell in a CHeightGridMap2D map.
uint32_t w
[For mrSimpleAverage model] The accumulated weight: initially zero if un-observed,...
float u
Auxiliary variable for storing the incremental mean value (in meters).
float v
Auxiliary (in meters)
float var
The current standard deviation of the height (in meters)
float h
The current average height (in meters)
Parameters for CMetricMap::compute3DMatchingRatio()
maps::CHeightGridMap2D::TMapRepresentation enum_t
static void fill(bimap< enum_t, std::string > &m_map)
Only specializations of this class are defined for each enum type of interest.