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mrpt::slam::CSimplePointsMap Class Reference

A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

#include <mrpt/slam/CSimplePointsMap.h>

Inheritance diagram for mrpt::slam::CSimplePointsMap:

mrpt::slam::CPointsMap mrpt::slam::CMetricMap mrpt::utils::CSerializable

List of all members.

Public Member Functions

virtual ~CSimplePointsMap ()
 Destructor.
 CSimplePointsMap ()
 Default constructor.
void copyFrom (const CPointsMap &obj)
 Copy operator.
void loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
 Transform the range scan into a set of cartessian coordinated points.
bool load2D_from_text_file (std::string file)
 Load from a text file.
bool load3D_from_text_file (std::string file)
 Load from a text file.
void clear ()
 Clear the map, erasing all the points.
void fuseWith (CPointsMap *otherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)
 Insert the contents of another map into this one, fusing the previous content with the new one.
void insertAnotherMap (CPointsMap *otherMap, CPose2D otherPose)
 Insert the contents of another map into this one, without fusing close points.
void setPoint (const size_t &index, CPoint2D &p)
 Changes a given point from map, as a 2D point.
void setPoint (const size_t &index, CPoint3D &p)
 Changes a given point from map, as a 3D point.
void setPoint (const size_t &index, float x, float y)
 Changes a given point from map.
void setPoint (const size_t &index, float x, float y, float z)
 Changes a given point from map.
void insertPoint (float x, float y, float z=0)
 Provides a way to insert individual points into the map:.
void insertPoint (CPoint3D p)
 Provides a way to insert individual points into the map:.
void applyDeletionMask (std::vector< bool > &mask)
 Remove from the map the points marked in a bool's array as "true".
bool insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL)
 Insert the observation information into this map.
double computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
 Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
void reserve (size_t newLength)
 Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.


Detailed Description

A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.

This class stores the coordinates (x,y,z) and a "weight", or counter of how many times that point has been seen, used only if points fusion is enabled in the options structure.

See also:
CMetricMap, CPoint, mrpt::utils::CSerializable

Definition at line 47 of file CSimplePointsMap.h.


Constructor & Destructor Documentation

virtual mrpt::slam::CSimplePointsMap::~CSimplePointsMap (  )  [virtual]

Destructor.

mrpt::slam::CSimplePointsMap::CSimplePointsMap (  ) 

Default constructor.


Member Function Documentation

void mrpt::slam::CSimplePointsMap::applyDeletionMask ( std::vector< bool > &  mask  )  [virtual]

Remove from the map the points marked in a bool's array as "true".

Exceptions:
std::exception If mask size is not equal to points count.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::auxParticleFilterCleanUp (  )  [virtual]

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CSimplePointsMap::clear (  )  [virtual]

Clear the map, erasing all the points.

Implements mrpt::slam::CPointsMap.

double mrpt::slam::CSimplePointsMap::computeObservationLikelihood ( const CObservation obs,
const CPose3D takenFrom 
) [virtual]

Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.

The implementation in this class checks if the points map has an associated gridmap, i.e. I am into a CHibridMetricMap. If this is so, it always return 1.0 therefore the gridmap can return a more appropiate value. If this map is a standalone metric map, it returns the points-matching ratio as the likelihood, using 1.5 times the parameter "minDistBetweenLaserPoints" (from "CPointsMap::insertionOptions") as the matching distance threshold.

Parameters:
takenFrom The robot's pose the observation is supposed to be taken from.
obs The observation.
Returns:
This method returns a likelihood in the range [0,1].
See also:
Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CSimplePointsMap::copyFrom ( const CPointsMap obj  )  [virtual]

Copy operator.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::fuseWith ( CPointsMap otherMap,
float  minDistForFuse = 0.02f,
std::vector< bool > *  notFusedPoints = NULL 
) [virtual]

Insert the contents of another map into this one, fusing the previous content with the new one.

This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method.

Parameters:
otherMap The other map whose points are to be inserted into this one.
minDistForFuse Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
notFusedPoints If a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not.
See also:
insertAnotherMap

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::insertAnotherMap ( CPointsMap otherMap,
CPose2D  otherPose 
)

Insert the contents of another map into this one, without fusing close points.

Parameters:
otherMap The other map whose points are to be inserted into this one.
otherPose The pose of the other map in the coordinates of THIS map
See also:
fuseWith

bool mrpt::slam::CSimplePointsMap::insertObservation ( const CObservation obs,
const CPose3D robotPose = NULL 
) [virtual]

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters:
obs The observation
robotPose The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)
See also:
CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CSimplePointsMap::insertPoint ( CPoint3D  p  )  [virtual]

Provides a way to insert individual points into the map:.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::insertPoint ( float  x,
float  y,
float  z = 0 
) [virtual]

Provides a way to insert individual points into the map:.

Implements mrpt::slam::CPointsMap.

bool mrpt::slam::CSimplePointsMap::load2D_from_text_file ( std::string  file  )  [virtual]

Load from a text file.

In each line there are a point coordinates. Returns false if any error occured, true elsewere.

Implements mrpt::slam::CPointsMap.

bool mrpt::slam::CSimplePointsMap::load3D_from_text_file ( std::string  file  )  [virtual]

Load from a text file.

In each line there are a point coordinates. Returns false if any error occured, true elsewere.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::loadFromRangeScan ( const CObservation2DRangeScan rangeScan,
const CPose3D robotPose = NULL 
) [virtual]

Transform the range scan into a set of cartessian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters:
rangeScan The scan to be inserted into this map
robotPose The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.
NOTE: Only ranges marked as "valid=true" in the observation will be inserted

See also:
CObservation2DRangeScan

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::reserve ( size_t  newLength  )  [virtual]

Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.

This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::setPoint ( const size_t &  index,
float  x,
float  y,
float  z 
) [virtual]

Changes a given point from map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::setPoint ( const size_t &  index,
float  x,
float  y 
) [virtual]

Changes a given point from map.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::setPoint ( const size_t &  index,
CPoint3D p 
) [virtual]

Changes a given point from map, as a 3D point.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::setPoint ( const size_t &  index,
CPoint2D p 
) [virtual]

Changes a given point from map, as a 2D point.

First index is 0.

Exceptions:
Throws std::exception on index out of bound.

Implements mrpt::slam::CPointsMap.




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