10#ifndef CReflectivityGridMap2D_H
11#define CReflectivityGridMap2D_H
43 public utils::CDynamicGrid<int8_t>,
61 return m_logodd_lut.
l2p(c);
65 CReflectivityGridMap2D(
double x_min = -2,
double x_max = 2,
double y_min = -2,
double y_max = 2,
double resolution = 0.1);
96 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
97 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
100 double min_x,max_x,min_y,max_y,resolution;
#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...
Declares a virtual base class for all metric maps storage classes.
void clear()
Erase all the contents of the map.
A 2D grid map representing the reflectivity of the environment (for example, measured with an IR prox...
void getAsImage(utils::CImage &img, bool verticalFlip=false, bool forceRGB=false) const
Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if ...
float cell2float(const int8_t &c) const MRPT_OVERRIDE
The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a n...
void clear()
Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both bas...
static CLogOddsGridMapLUT< cell_t > m_logodd_lut
Lookup tables for log-odds.
CReflectivityGridMap2D(double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Returns a 3D object representing the map.
float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) const MRPT_OVERRIDE
See docs in base class: in this class this always returns 0.
void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const MRPT_OVERRIDE
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >,...
bool isEmpty() const MRPT_OVERRIDE
Returns true if the map is empty/no observation has been inserted.
void internal_clear() MRPT_OVERRIDE
Internal method called by clear()
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
A class for storing images as grayscale or RGB bitmaps.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A generic provider of log-odds grid-map maintainance functions.
float l2p(const cell_t l)
Scales an integer representation of the log-odd into a real valued probability in [0,...
Parameters related with inserting observations into the map.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
TInsertionOptions()
Default values loader.
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
Parameters for CMetricMap::compute3DMatchingRatio()