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40 float y_min = -2,
float y_max = 2,
float resolution = 0.1f);
48 public TInsertionOptionsCommon
55 const std::string& section)
override;
57 std::ostream&
out)
const override;
134 std::vector<std::vector<std::vector<TGaussianCell>>>*
table;
174 float min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
float std_windNoise_phi
Frequency for simulating advection (only used.
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.
std::shared_ptr< mrpt::opengl ::CSetOfObjects > Ptr
Parameters related with inserting observations into the map:
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Parameters common to any derived class.
std::vector< std::vector< std::vector< TGaussianCell > > > * table
uint16_t enose_id
id for the enose used to generate this map (must be < gasGrid_count)
mrpt::vision::TStereoCalibResults out
void getWindAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &windObj) const
Returns the 3D object representing the wind grid information.
CGasConcentrationGridMap2D(TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1f)
Constructor.
mrpt::containers::CDynamicGrid< double > windGrid_module
Gridmaps of the wind Direction/Module.
CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() override
Get the part of the options common to all CRandomFieldGridMap2D classes.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
virtual void increaseUncertainty(const double STD_increase_value)
Increase the kf_std of all cells from the m_map This mehod is usually called by the main_map to simul...
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
bool internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
std::string windSensorLabel
The label of the WindSenor used to simulate advection.
float advectionFreq
Indicates if wind information must be used.
This class allows loading and storing values and vectors of different types from a configuration text...
bool load_Gaussian_Wind_Grid_From_File()
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
@ mrKernelDM
Gaussian kernel-based estimator (see discussion in mrpt::maps::CRandomFieldGridMap2D)
bool save_Gaussian_Wind_Grid_To_File()
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions insertionOpts
Observations insertion options.
mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions insertionOptions
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
#define MAP_DEFINITION_END(_CLASS_NAME_)
uint16_t gasSensorType
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors,...
void internal_clear() override
Internal method called by clear()
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
mrpt::containers::CDynamicGrid< double > windGrid_direction
Declares a class that represents any robot's observation.
@ mrAchim
Another alias for "mrKernelDM", for backwards compatibility (see discussion in mrpt::maps::CRandomFie...
float default_wind_direction
The std to consider on.
mrpt::system::TTimeStamp timeLastSimulated
The timestamp of the last time the advection simulation was executed.
std::string gasSensorLabel
The label of the CObservationGasSensor used to generate the map.
~CGasConcentrationGridMap2D() override
Destructor.
bool build_Gaussian_Wind_Grid()
Builds a LookUp table with the values of the Gaussian Weights result of the wind advection for a spec...
TInsertionOptions()
Default values loader.
bool simulateAdvection(double STD_increase_value)
Implements the transition model of the gasConcentration map using the information of the wind maps
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