56 TSequenceBeacons m_beacons;
59 virtual
void internal_clear();
60 virtual
bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL );
61 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom );
67 void resize(const
size_t N);
70 const
CBeacon& operator [](
size_t i)
const {
97 m_beacons.push_back( m );
101 float compute3DMatchingRatio(
104 float maxDistForCorr = 0.10f,
105 float maxMahaDistForCorr = 2.0f
119 void loadFromConfigFile(
121 const std::string §ion);
144 void loadFromConfigFile(
146 const std::string §ion);
202 bool saveToMATLABScript3D(
203 const std::string &file,
204 const char *style=
"b",
205 float confInterval = 0.95f )
const;
213 virtual void determineMatching2D(
228 void computeMatchingWith3DLandmarks(
231 float &correspondencesRatio,
232 std::vector<bool> &otherCorrespondences)
const;
245 bool isEmpty()
const;
253 void simulateBeaconReadings(
264 void saveMetricMapRepresentationToFile(
265 const std::string &filNamePrefix )
const;
275 void getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &outObj )
const;
float MC_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing ...
int64_t TBeaconID
The type for the IDs of landmarks.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
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...
This struct contains data for choosing the method by which new beacons are inserted in the map...
With this struct options are provided to the likelihood computations.
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
std::deque< CBeacon >::iterator iterator
bool MC_performResampling
If set to false (default), the samples will be generated the first time a beacon is observed...
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#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...
float SOG_maxDistBetweenGaussians
A parameter for initializing 2D/3D SOGs.
float rangeStd
The standard deviation used for Beacon ranges likelihood (default=0.08m).
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).
float SOG_separationConstant
Constant used to compute the std.
void push_back(const CBeacon &m)
Inserts a copy of the given mode into the SOG.
A class used to store a 3D point.
std::deque< CBeacon > TSequenceBeacons
const_iterator begin() const
const_iterator end() const
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t size(const MATRIXLIKE &m, int dim)
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).
bool insertAsMonteCarlo
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussian...
std::deque< CBeacon >::const_iterator const_iterator
unsigned int MC_numSamplesPerMeter
Number of particles per meter of range, i.e.
float MC_maxStdToGauss
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (def...
float MC_afterResamplingNoise
The std.dev.
Parameters for the determination of matchings between point clouds, etc.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
float SOG_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mod...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...