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10 #ifndef CHeightGridMap2D_MRF_MRF_H
11 #define CHeightGridMap2D_MRF_MRF_H
42 double x_min = -2,
double x_max = 2,
43 double y_min = -2,
double y_max = 2,
double resolution = 0.1,
44 bool run_first_map_estimation_now=
true
70 virtual
bool dem_get_z_by_cell(const
size_t cx, const
size_t cy,
double &z_out) const
MRPT_OVERRIDE;
71 virtual
bool dem_get_z(const
double x, const
double y,
double &z_out) const
MRPT_OVERRIDE;
76 return &insertionOptions;
81 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
82 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
85 bool run_map_estimation_at_ctor;
86 double min_x,max_x,min_y,max_y,resolution;
CHeightGridMap2D_MRF(TMapRepresentation mapType=mrGMRF_SD, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1, bool run_first_map_estimation_now=true)
Constructor.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
Extra params for insertIndividualPoint()
Virtual base class for Digital Elevation Model (DEM) maps.
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const MRPT_OVERRIDE
Returns two 3D objects representing the mean and variance maps.
Parameters common to any derived class.
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Returns a 3D object representing the map.
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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.
CHeightGridMap2D_MRF represents a PDF of gas concentrations over a 2D area.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
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...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
TInsertionOptions()
Default values loader.
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#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 DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void internal_clear() MRPT_OVERRIDE
Erase all the contents of the map.
Parameters related with inserting observations into the map.
virtual ~CHeightGridMap2D_MRF()
Destructor.
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