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maps/CWirelessPowerGridMap2D.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9
10#ifndef CWirelessPowerGridMap2D_H
11#define CWirelessPowerGridMap2D_H
12
15
17
18namespace mrpt
19{
20namespace maps
21{
23
24 /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
25 *
26 * There are a number of methods available to build the wifi grid-map, depending on the value of
27 * "TMapRepresentation maptype" passed in the constructor (see CRandomFieldGridMap2D for a discussion).
28 *
29 * Update the map with insertIndividualReading() or insertObservation()
30 *
31 * \sa mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::maps::CMultiMetricMap
32 * \ingroup mrpt_maps_grp
33 */
35 {
36 // This must be added to any CSerializable derived class:
38 public:
39 /** Constructor */
40 CWirelessPowerGridMap2D(TMapRepresentation mapType = mrKernelDM, double x_min = -2, double x_max = 2, double y_min = -2, double y_max = 2, double resolution = 0.1);
41
42 /** Destructor */
44
45 /** Parameters related with inserting observations into the map:
46 */
50 {
51 TInsertionOptions(); //!< Default values loader
52
53 void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
54 void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
55
56 } insertionOptions;
57
58 void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE; //!< Returns a 3D object representing the map
59
60 protected:
61 /** Get the part of the options common to all CRandomFieldGridMap2D classes */
63 return &insertionOptions;
64 }
65
66 // See docs in derived class
68 bool internal_insertObservation( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
69 double internal_computeObservationLikelihood( const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom ) MRPT_OVERRIDE;
70
72 double min_x,max_x,min_y,max_y,resolution; //!< See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
73 mrpt::maps::CWirelessPowerGridMap2D::TMapRepresentation mapType; //!< The kind of map representation (see CWirelessPowerGridMap2D::CWirelessPowerGridMap2D)
76
77 };
79
80 } // End of namespace
81} // End of namespace
82
83#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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 MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ... MAP_DEFINITION_END() block inside the declaration of each metric map...
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...
TMapRepresentation
The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
virtual ~CWirelessPowerGridMap2D()
Destructor.
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Returns a 3D object representing the map.
void internal_clear() MRPT_OVERRIDE
Erase all the contents of the map.
CWirelessPowerGridMap2D(TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() MRPT_OVERRIDE
Get the part of the options common to all CRandomFieldGridMap2D classes.
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...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:39
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Parameters related with inserting observations into the map:
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...



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