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41 double x_max = 2,
double y_min = -2,
double y_max = 2,
42 double resolution = 0.5,
45 bool run_first_map_estimation_now =
true);
56 const std::string& section)
override;
58 std::ostream&
out)
const override;
70 const double x,
const double y,
const double z,
77 const size_t cx,
const size_t cy,
double& z_out)
const override;
79 const double x,
const double y,
double& z_out)
const override;
101 bool run_map_estimation_at_ctor{
true};
103 double min_x{-2}, max_x{2}, min_y{-2}, max_y{2}, resolution{0.10f};
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOptions
bool dem_get_z_by_cell(const size_t cx, const size_t cy, double &z_out) const override
Get cell 'z' by (cx,cy) cell indices.
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.
std::shared_ptr< mrpt::opengl ::CSetOfObjects > Ptr
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Extra params for insertIndividualPoint()
Virtual base class for Digital Elevation Model (DEM) maps.
Parameters common to any derived class.
@ mrGMRF_SD
Gaussian Markov Random Field, squared differences prior weights between 4 neighboring cells (see disc...
mrpt::vision::TStereoCalibResults out
size_t dem_get_size_x() const override
bool insertIndividualPoint(const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams ¶ms=CHeightGridMap2D_Base::TPointInsertParams()) override
Update the DEM with one new point.
CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty,...
CHeightGridMap2D_MRF(TMapRepresentation mapType=mrGMRF_SD, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.5, bool run_first_map_estimation_now=true)
Constructor.
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions insertionOpts
Observations insertion options.
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
TInsertionOptions()
Default values loader.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
bool internal_insertObservation(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D *robotPose=nullptr) override
Internal method called by insertObservation()
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void getAs3DObject(mrpt::opengl::CSetOfObjects::Ptr &outObj) const override
Returns a 3D object representing the map.
mrpt::vision::TStereoCalibParams params
double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) override
Internal method called by computeObservationLikelihood()
size_t dem_get_size_y() const override
#define MAP_DEFINITION_START(_CLASS_NAME_)
Add a MAP_DEFINITION_START() ...
#define MAP_DEFINITION_END(_CLASS_NAME_)
double dem_get_resolution() const override
void dem_update_map() override
Ensure that all observations are reflected in the map estimate.
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() override
Get the part of the options common to all CRandomFieldGridMap2D classes.
Declares a class that represents any robot's observation.
void internal_clear() override
Internal method called by clear()
bool dem_get_z(const double x, const double y, double &z_out) const override
Get cell 'z' (x,y) by metric coordinates.
Parameters related with inserting observations into the map.
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