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53 public
mrpt::utils::CSerializable,
54 public
mrpt::utils::CObservable
228 virtual void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj )
const = 0;
virtual void determineMatching3D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const
Computes the matchings between this and another 3D points map - method used in 3D-ICP.
bool insertObservationPtr(const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL)
A wrapper for smart pointers, just calls the non-smart pointer version.
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.
virtual void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const =0
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >,...
virtual ~CMetricMap()
Destructor.
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 o...
virtual void auxParticleFilterCleanUp()
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::...
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::CSensoryFra...
virtual float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const
Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map,...
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
void clear()
Erase all the contents of the map.
Parameters for CMetricMap::compute3DMatchingRatio()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const =0
Returns a 3D object representing the map.
Common params to all maps derived from mrpt::maps::CMetricMap
TMapGenericParams genericMapParams
Common params to all maps.
virtual void determineMatching2D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const
Computes the matching between this and another 2D point map, which includes finding:
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.
virtual bool internal_insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)=0
Internal method called by insertObservation()
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual bool internal_canComputeObservationLikelihood(const mrpt::obs::CObservation *obs)
Internal method called by canComputeObservationLikelihood()
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
virtual double internal_computeObservationLikelihood(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom)=0
Internal method called by computeObservationLikelihood()
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const
If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points ...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
bool canComputeObservationLikelihood(const mrpt::obs::CObservationPtr &obs)
This is an overloaded member function, provided for convenience. It differs from the above function o...
Parameters for the determination of matchings between point clouds, etc.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
void loadFromProbabilisticPosesAndObservations(const mrpt::maps::CSimpleMap &Map)
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
virtual bool canComputeObservationLikelihood(const mrpt::obs::CObservation *obs)
Returns true if this map is able to compute a sensible likelihood function for this observation (i....
#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...
virtual void OnPostSuccesfulInsertObs(const mrpt::obs::CObservation *)
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from in...
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap()
bool canComputeObservationsLikelihood(const mrpt::obs::CSensoryFrame &sf)
Returns true if this map is able to compute a sensible likelihood function for this observation (i....
void loadFromSimpleMap(const mrpt::maps::CSimpleMap &Map)
Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
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.
Declares a class that represents any robot's observation.
virtual bool isEmpty() const =0
Returns true if the map is empty/no observation has been inserted.
virtual void internal_clear()=0
Internal method called by clear()
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
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