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59 virtual
bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
60 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
66 void resize(const
size_t N);
69 const
CBeacon& operator [](
size_t i)
const {
96 m_beacons.push_back( m );
179 const std::string &file,
180 const char *style=
"b",
181 float confInterval = 0.95f )
const;
207 float &correspondencesRatio,
208 std::vector<bool> &otherCorrespondences)
const;
229 void simulateBeaconReadings(
230 const
mrpt::poses::CPose3D &in_robotPose,
231 const
mrpt::poses::CPoint3D &in_sensorLocationOnRobot,
232 mrpt::obs::CObservationBeaconRanges &out_Observations ) const;
240 void saveMetricMapRepresentationToFile(const std::
string &filNamePrefix ) const
MRPT_OVERRIDE;
float SOG_maxDistBetweenGaussians
A parameter for initializing 2D/3D SOGs.
size_t size() const
Returns the stored landmarks count.
std::deque< CBeacon >::iterator iterator
const Scalar * const_iterator
bool MC_performResampling
If set to false (default), the samples will be generated the first time a beacon is observed,...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
This struct contains data for choosing the method by which new beacons are inserted in the map.
float MC_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing ...
bool saveToMATLABScript3D(const std::string &file, const char *style="b", float confInterval=0.95f) const
Save to a MATLAB script which displays 3D error ellipses for the map.
TSequenceBeacons m_beacons
The individual beacons.
virtual void determineMatching2D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const MRPT_OVERRIDE
Computes the matching between this and another 2D point map, which includes finding:
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
float SOG_separationConstant
Constant used to compute the std.
Parameters for CMetricMap::compute3DMatchingRatio()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void changeCoordinatesReference(const mrpt::poses::CPose3D &newOrg, const mrpt::maps::CBeaconMap *otherMap)
Changes the reference system of the map "otherMap" and save the result in "this" map.
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
float MC_maxStdToGauss
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (def...
float rangeStd
The standard deviation used for Beacon ranges likelihood (default=0.08m).
float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const MRPT_OVERRIDE
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map,...
float SOG_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mod...
TInsertionOptions()
Initilization of default parameters.
float MC_afterResamplingNoise
The std.dev.
void changeCoordinatesReference(const mrpt::poses::CPose3D &newOrg)
Changes the reference system of the map to a given 3D pose.
Declares a virtual base class for all metric maps storage classes.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
CBeacon & get(size_t i)
Access to individual beacons.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
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.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
const CBeacon & get(size_t i) const
Access to individual beacons.
With this struct options are provided to the likelihood computations.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void push_back(const CBeacon &m)
Inserts a copy of the given mode into the SOG.
TLikelihoodOptions()
Initilization of default parameters.
bool isEmpty() const MRPT_OVERRIDE
Returns true if the map is empty/no observation has been inserted.
bool insertAsMonteCarlo
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussian...
void computeMatchingWith3DLandmarks(const mrpt::maps::CBeaconMap *otherMap, mrpt::utils::TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const
Perform a search for correspondences between "this" and another lansmarks map: Firsly,...
Parameters for the determination of matchings between point clouds, etc.
unsigned int MC_numSamplesPerMeter
Number of particles per meter of range, i.e.
#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...
std::deque< CBeacon > TSequenceBeacons
const_iterator begin() const
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.
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.
std::deque< CBeacon >::const_iterator const_iterator
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
virtual void internal_clear() MRPT_OVERRIDE
Internal method called by clear()
const_iterator end() const
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