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mrpt::slam::COccupancyGridMap2D Class Reference


Detailed Description

A class for storing an occupancy grid map.

COccupancyGridMap2D is a class for storing a metric map representation in the form of a probabilistic occupancy grid map: value of 0 means certainly occupied, 1 means a certainly empty cell. Initially 0.5 means uncertainty.

The cells keep the log-odd representation of probabilities instead of the probabilities themselves. More details can be found at http://www.mrpt.org/Occupancy_Grids

The algorithm for updating the grid from a laser scanner can optionally take into account the progressive widening of the beams, as described in the wiki (this feature was introduced in MRPT 0.6.4).

Some implemented methods are:

Definition at line 111 of file COccupancyGridMap2D.h.

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D:
Inheritance graph
[legend]

List of all members.

Classes

struct  TCriticalPointsList
 The structure used to store the set of Voronoi diagram critical points. More...
struct  TEntropyInfo
 Used for returning entropy related information. More...
class  TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
class  TLikelihoodOptions
 With this struct options are provided to the observation likelihood computation process. More...
class  TLikelihoodOutput
 Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...
struct  TUpdateCellsInfoChangeOnly
 An internal structure for storing data related to counting the new information apported by some observation. More...

Public Types

enum  TLikelihoodMethod {
  lmMeanInformation = 0, lmRayTracing, lmConsensus, lmCellsDifference,
  lmLikelihoodField_Thrun, lmLikelihoodField_II, lmConsensusOWA
}
 

The type for selecting a likelihood computation method.

More...
typedef std::pair< double,
CPoint2D
TPairLikelihoodIndex
 Auxiliary private class.

Public Member Functions

void updateCell (int x, int y, float v)
 Performs the Bayesian fusion of a new observation of a cell.
 COccupancyGridMap2D (float min_x=-20.0f, float max_x=20.0f, float min_y=-20.0f, float max_y=20.0f, float resolution=0.05f)
 Constructor.
void fill (float default_value=0.5f)
 Fills all the cells with a default value.
virtual ~COccupancyGridMap2D ()
 Destructor.
void setSize (float x_min, float x_max, float y_min, float y_max, float resolution, float default_value=0.5f)
 Change the size of gridmap, erasing all its previous contents.
void resizeGrid (float new_x_min, float new_x_max, float new_y_min, float new_y_max, float new_cells_default_value=0.5f, bool additionalMargin=true) MRPT_NO_THROWS
 Change the size of gridmap, maintaining previous contents.
double getArea () const
 Returns the area of the gridmap, in square meters.
unsigned int getSizeX () const
 Returns the horizontal size of grid map in cells count.
unsigned int getSizeY () const
 Returns the vertical size of grid map in cells count.
float getXMin () const
 Returns the "x" coordinate of left side of grid map.
float getXMax () const
 Returns the "x" coordinate of right side of grid map.
float getYMin () const
 Returns the "y" coordinate of top side of grid map.
float getYMax () const
 Returns the "y" coordinate of bottom side of grid map.
float getResolution () const
 Returns the resolution of the grid map.
int x2idx (float x) const
 Transform a coordinate value into a cell index.
int y2idx (float y) const
int x2idx (double x) const
int y2idx (double y) const
float idx2x (const size_t cx) const
 Transform a cell index into a coordinate value.
float idx2y (const size_t cy) const
int x2idx (float x, float x_min) const
 Transform a coordinate value into a cell index, using a diferent "x_min" value.
int y2idx (float y, float y_min) const
void setCell (int x, int y, float value)
 Change the contents [0,1] of a cell, given its index.
float getCell (int x, int y) const
 Read the real valued [0,1] contents of a cell, given its index.
cellType * getRow (int cy)
 Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
const cellType * getRow (int cy) const
 Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.
void setPos (float x, float y, float value)
 Change the contents [0,1] of a cell, given its coordinates.
float getPos (float x, float y) const
 Read the real valued [0,1] contents of a cell, given its coordinates.
bool isStaticPos (float x, float y, float threshold=0.7f) const
 Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.
bool isStaticCell (int cx, int cy, float threshold=0.7f) const
void setBasisCell (int x, int y, uint8_t value)
 Change a cell in the "basis" maps.Used for Voronoi calculation.
unsigned char getBasisCell (int x, int y) const
 Reads a cell in the "basis" maps.Used for Voronoi calculation.
void subSample (int downRatio)
 Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.
void computeEntropy (TEntropyInfo &info) const
 Computes the entropy and related values of this grid map.
int computeClearance (int cx, int cy, int *basis_x, int *basis_y, int *nBasis, bool GetContourPoint=false) const
 Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.
float computeClearance (float x, float y, float maxSearchDistance) const
 An alternative method for computing the clearance of a given location (in meters).
float computePathCost (float x1, float y1, float x2, float y2) const
 Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.
double computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
 Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
bool canComputeObservationLikelihood (const CObservation *obs)
 Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
double computeLikelihoodField_Thrun (const CPointsMap *pm, const CPose2D *relativePose=NULL)
 Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
double computeLikelihoodField_II (const CPointsMap *pm, const CPose2D *relativePose=NULL)
 Computes the likelihood [0,1] of a set of points, given the current grid map as reference.
bool saveAsBitmapFile (const std::string &file) const
 Saves the gridmap as a graphical file (BMP,PNG,...).
template<class CLANDMARKSMAP >
bool saveAsBitmapFileWithLandmarks (const std::string &file, const CLANDMARKSMAP *landmarks, bool addTextLabels=false, const mrpt::utils::TColor &marks_color=mrpt::utils::TColor(0, 0, 255)) const
 Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.
void getAsImage (utils::CImage &img, bool verticalFlip=false, bool forceRGB=false, bool tricolor=false) const
 Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
void getAsImageFiltered (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 forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.
void getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
 Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.
bool isEmpty () const
 Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.
bool loadFromBitmapFile (const std::string &file, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
 Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
bool loadFromBitmap (const mrpt::utils::CImage &img, float resolution, float xCentralPixel=-1, float yCentralPixel=-1)
 Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).
void computeMatchingWith2D (const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const
 See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.
float compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const
 Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.
void saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
 This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
void auxParticleFilterCleanUp ()
 This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
Sensor simulators
void laserScanSimulator (CObservation2DRangeScan &inout_Scan, const CPose2D &robotPose, float threshold=0.5f, size_t N=361, float noiseStd=0, unsigned int decimation=1, float angleNoiseStd=DEG2RAD(0)) const
 Simulates a laser range scan into the current grid map.
void sonarSimulator (CObservationRange &inout_observation, const CPose2D &robotPose, float threshold=0.5f, float rangeNoiseStd=0, float angleNoiseStd=DEG2RAD(0)) const
 Simulates the observations of a sonar rig into the current grid map.
void simulateScanRay (const double x, const double y, const double angle_direction, float &out_range, bool &out_valid, const unsigned int max_ray_len, const float threshold_free=0.5f, const double noiseStd=0, const double angleNoiseStd=0) const
 Simulate just one "ray" in the grid map.

Static Public Member Functions

static void updateCell_fast_occupied (const unsigned &x, const unsigned &y, const cellType &logodd_obs, const cellType &thres, cellType *mapArray, const unsigned &_size_x)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void updateCell_fast_occupied (cellType *theCell, const cellType &logodd_obs, const cellType &thres)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void updateCell_fast_free (const unsigned &x, const unsigned &y, const cellType &logodd_obs, const cellType &thres, cellType *mapArray, const unsigned &_size_x)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static void updateCell_fast_free (cellType *theCell, const cellType &logodd_obs, const cellType &thres)
 Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.
static float l2p (const cellType &l)
 Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))
static uint8_t l2p_255 (const cellType &l)
 Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))
static cellType p2l (const float &p)
 Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.
static bool saveAsBitmapTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const TMatchingPairList &corrs)
 Saves a composite image with two gridmaps and lines representing a set of correspondences between them.
static bool saveAsEMFTwoMapsWithCorrespondences (const std::string &fileName, const COccupancyGridMap2D *m1, const COccupancyGridMap2D *m2, const TMatchingPairList &corrs)
 Saves a composite image with two gridmaps and numbers for the correspondences between them.

Public Attributes

struct MAPS_IMPEXP
mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly 
updateInfoChangeOnly
TInsertionOptions insertionOptions
 With this struct options are provided to the observation insertion process.
mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions likelihoodOptions
class
mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput 
likelihoodOutputs
struct MAPS_IMPEXP
mrpt::slam::COccupancyGridMap2D::TCriticalPointsList 
CriticalPointsList

Protected Member Functions

virtual void OnPostSuccesfulInsertObs (const CObservation *)
 See base class.
void freeMap ()
 Frees the dynamic memory buffers of map.
void setCell_nocheck (int x, int y, float value)
 Change the contents [0,1] of a cell, given its index.
float getCell_nocheck (int x, int y) const
 Read the real valued [0,1] contents of a cell, given its index.
void setRawCell (unsigned int cellIndex, cellType b)
 Changes a cell by its absolute index (Do not use it normally)
double computeObservationLikelihood_Consensus (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)
double computeObservationLikelihood_ConsensusOWA (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in....
double computeObservationLikelihood_CellsDifference (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood".
double computeObservationLikelihood_MI (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood".
double computeObservationLikelihood_rayTracing (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood".
double computeObservationLikelihood_likelihoodField_Thrun (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood".
double computeObservationLikelihood_likelihoodField_II (const CObservation *obs, const CPose2D &takenFrom)
 One of the methods that can be selected for implementing "computeObservationLikelihood".
virtual void internal_clear ()
 Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).
virtual bool internal_insertObservation (const CObservation *obs, const CPose3D *robotPose=NULL)
 Insert the observation information into this map.

Static Protected Member Functions

static double H (double p)
 Entropy computation internal function:

Protected Attributes

std::vector< cellType > map
 This is the buffer for storing the cells.In this dynamic size buffer are stored the cell values as "bytes", stored row by row, from left to right cells.
uint32_t size_x
 The size of the grid in cells.
uint32_t size_y
float x_min
 The limits of the grid in "units" (meters).
float x_max
float y_min
float y_max
float resolution
 Cell size, i.e.
std::vector< double > precomputedLikelihood
 These are auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).
bool precomputedLikelihoodToBeRecomputed
CDynamicGrid< uint8_t > m_basis_map
 Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.
CDynamicGrid< uint16_t > m_voronoi_diagram
 Used to store the Voronoi diagram.
bool m_is_empty
 True upon construction; used by isEmpty()
float voroni_free_threshold
 The free-cells threshold used to compute the Voronoi diagram.

Static Protected Attributes

static std::vector< float > entropyTable
 Internally used to speed-up entropy calculation.
static std::vector< float > logoddsTable
 A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.
static std::vector< uint8_t > logoddsTable_255
 A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.
static float * logoddsTablePtr
 A pointer to the vector logoddsTable.
static uint8_t * logoddsTable_255Ptr
 A pointer to the vector logoddsTable_255.
static std::vector< cellType > p2lTable
 A lookup table for passing from float to log-odds as cellType.
static cellType * p2lTablePtr
 A pointer to the vector p2lTable.

Private Member Functions

unsigned char GetNeighborhood (int cx, int cy) const
 Returns a byte with the occupancy of the 8 sorrounding cells.
int direction2idx (int dx, int dy)
 Returns the index [0,7] of the given movement, or -1 if invalid one.

Private Attributes

int direccion_vecino_x [8]
 Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.
int direccion_vecino_y [8]

Friends

class CMultiMetricMap
class CMultiMetricMapPDF

RTTI stuff

typedef COccupancyGridMap2DPtr SmartPtr
static mrpt::utils::CLASSINIT _init_COccupancyGridMap2D
static mrpt::utils::TRuntimeClassId classCOccupancyGridMap2D
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static COccupancyGridMap2DPtr Create ()

Voronoi methods

void buildVoronoiDiagram (float threshold, float robot_size, int x1=0, int x2=0, int y1=0, int y2=0)
 Build the Voronoi diagram of the grid map.
uint16_t getVoroniClearance (int cx, int cy) const
 Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.
const CDynamicGrid< uint8_t > & getBasisMap () const
 Return the auxiliary "basis" map built while building the Voronoi diagram.
const CDynamicGrid< uint16_t > & getVoronoiDiagram () const
 Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.
void findCriticalPoints (float filter_distance)
 Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.
void setVoroniClearance (int cx, int cy, uint16_t dist)
 Used to set the clearance of a cell, while building the Voronoi diagram.

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 114 of file COccupancyGridMap2D.h.

Auxiliary private class.

Definition at line 807 of file COccupancyGridMap2D.h.


Member Enumeration Documentation

The type for selecting a likelihood computation method.

Enumerator:
lmMeanInformation 
lmRayTracing 
lmConsensus 
lmCellsDifference 
lmLikelihoodField_Thrun 
lmLikelihoodField_II 
lmConsensusOWA 

Definition at line 696 of file COccupancyGridMap2D.h.


Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D ( float  min_x = -20.0f,
float  max_x = 20.0f,
float  min_y = -20.0f,
float  max_y = 20.0f,
float  resolution = 0.05f 
)

Constructor.

virtual mrpt::slam::COccupancyGridMap2D::~COccupancyGridMap2D ( ) [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::auxParticleFilterCleanUp ( ) [virtual]

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Implements mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::buildVoronoiDiagram ( float  threshold,
float  robot_size,
int  x1 = 0,
int  x2 = 0,
int  y1 = 0,
int  y2 = 0 
)

Build the Voronoi diagram of the grid map.

Parameters:
thresholdThe threshold for binarizing the map.
robot_sizeSize in "units" (meters) of robot, approx.
x1Left coordinate of area to be computed. Default, entire map.
x2Right coordinate of area to be computed. Default, entire map.
y1Top coordinate of area to be computed. Default, entire map.
y2Bottom coordinate of area to be computed. Default, entire map.
See also:
findCriticalPoints
bool mrpt::slam::COccupancyGridMap2D::canComputeObservationLikelihood ( const CObservation obs) [virtual]

Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.

an occupancy grid map cannot with an image).

Parameters:
obsThe observation.
See also:
computeObservationLikelihood

Reimplemented from mrpt::slam::CMetricMap.

float mrpt::slam::COccupancyGridMap2D::compute3DMatchingRatio ( const CMetricMap otherMap,
const CPose3D otherMapPose,
float  minDistForCorr = 0.10f,
float  minMahaDistForCorr = 2.0f 
) const [virtual]

Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.

This method always return 0 for grid maps.

Parameters:
otherMap[IN] The other map to compute the matching with.
otherMapPose[IN] The 6D pose of the other map as seen from "this".
minDistForCorr[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
minMahaDistForCorr[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.
Returns:
The matching ratio [0,1]
See also:
computeMatchingWith2D

Implements mrpt::slam::CMetricMap.

int mrpt::slam::COccupancyGridMap2D::computeClearance ( int  cx,
int  cy,
int *  basis_x,
int *  basis_y,
int *  nBasis,
bool  GetContourPoint = false 
) const

Compute the clearance of a given cell, and returns its two first basis (closest obstacle) points.Used to build Voronoi and critical points.

Returns:
The clearance of the cell, in 1/100 of "cell".
Parameters:
cxThe cell index
cyThe cell index
basis_xTarget buffer for coordinates of basis, having a size of two "ints".
basis_yTarget buffer for coordinates of basis, having a size of two "ints".
nBasisThe number of found basis: Can be 0,1 or 2.
GetContourPointIf "true" the basis are not returned, but the closest free cells.Default at false.
See also:
Build_VoronoiDiagram
float mrpt::slam::COccupancyGridMap2D::computeClearance ( float  x,
float  y,
float  maxSearchDistance 
) const

An alternative method for computing the clearance of a given location (in meters).

Returns:
The clearance (distance to closest OCCUPIED cell), in meters.
void mrpt::slam::COccupancyGridMap2D::computeEntropy ( TEntropyInfo info) const

Computes the entropy and related values of this grid map.

The entropy is computed as the summed entropy of each cell, taking them as discrete random variables following a Bernoulli distribution:

Parameters:
infoThe output information is returned here.
double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_II ( const CPointsMap pm,
const CPose2D relativePose = NULL 
)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters:
pmThe points map
relativePoseThe relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.
double mrpt::slam::COccupancyGridMap2D::computeLikelihoodField_Thrun ( const CPointsMap pm,
const CPose2D relativePose = NULL 
)

Computes the likelihood [0,1] of a set of points, given the current grid map as reference.

Parameters:
pmThe points map
relativePoseThe relative pose of the points map in this map's coordinates, or NULL for (0,0,0). See "likelihoodOptions" for configuration parameters.
void mrpt::slam::COccupancyGridMap2D::computeMatchingWith2D ( const CMetricMap otherMap,
const CPose2D otherMapPose,
float  maxDistForCorrespondence,
float  maxAngularDistForCorrespondence,
const CPose2D angularDistPivotPoint,
TMatchingPairList correspondences,
float &  correspondencesRatio,
float *  sumSqrDist = NULL,
bool  onlyKeepTheClosest = false,
bool  onlyUniqueRobust = false 
) const [virtual]

See the base class for more details: In this class it is implemented as correspondences of the passed points map to occupied cells.

NOTICE: That the "z" dimension is ignored in the points. Clip the points as appropiated if needed before calling this method.

See also:
computeMatching3DWith

Reimplemented from mrpt::slam::CMetricMap.

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood ( const CObservation obs,
const CPose3D takenFrom 
) [virtual]

Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.

See "likelihoodOptions" for configuration parameters.

Parameters:
takenFromThe robot's pose the observation is supposed to be taken from.
obsThe observation.
Returns:
This method returns a likelihood in the range [0,1].

Used in particle filter algorithms, see: CMultiMetricMapPDF::prediction_and_update

See also:
likelihoodOptions, likelihoodOutputs

Implements mrpt::slam::CMetricMap.

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_Consensus ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood" (This method is the Range-Scan Likelihood Consensus for gridmaps, see the ICRA2007 paper by Blanco et al.)

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood" TODO: This method is described in....

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_Thrun ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_MI ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood".

double mrpt::slam::COccupancyGridMap2D::computeObservationLikelihood_rayTracing ( const CObservation obs,
const CPose2D takenFrom 
) [protected]

One of the methods that can be selected for implementing "computeObservationLikelihood".

float mrpt::slam::COccupancyGridMap2D::computePathCost ( float  x1,
float  y1,
float  x2,
float  y2 
) const

Compute the 'cost' of traversing a segment of the map according to the occupancy of traversed cells.

Returns:
This returns '1-mean(traversed cells occupancy)', i.e. 0.5 for unknown cells, 1 for a free path.
static COccupancyGridMap2DPtr mrpt::slam::COccupancyGridMap2D::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::CreateObject ( ) [static]
int mrpt::slam::COccupancyGridMap2D::direction2idx ( int  dx,
int  dy 
) [private]

Returns the index [0,7] of the given movement, or -1 if invalid one.

See also:
direccion_vecino_x,direccion_vecino_y,GetNeighborhood
virtual mrpt::utils::CObject* mrpt::slam::COccupancyGridMap2D::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

void mrpt::slam::COccupancyGridMap2D::fill ( float  default_value = 0.5f)

Fills all the cells with a default value.

void mrpt::slam::COccupancyGridMap2D::findCriticalPoints ( float  filter_distance)

Builds a list with the critical points from Voronoi diagram, which must must be built before calling this method.

Parameters:
filter_distanceThe minimum distance between two critical points.
See also:
buildVoronoiDiagram
void mrpt::slam::COccupancyGridMap2D::freeMap ( ) [protected]

Frees the dynamic memory buffers of map.

double mrpt::slam::COccupancyGridMap2D::getArea ( ) const [inline]

Returns the area of the gridmap, in square meters.

Definition at line 450 of file COccupancyGridMap2D.h.

References square().

void mrpt::slam::COccupancyGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr outObj) const [virtual]

Returns a 3D plane with its texture being the occupancy grid and transparency proportional to "uncertainty" (i.e.

a value of 0.5 is fully transparent)

Implements mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::getAsImage ( utils::CImage img,
bool  verticalFlip = false,
bool  forceRGB = false,
bool  tricolor = false 
) const

Returns the grid as a 8-bit graylevel image, where each pixel is a cell (output image is RGB only if forceRGB is true) If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also:
getAsImageFiltered
void mrpt::slam::COccupancyGridMap2D::getAsImageFiltered ( 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 forceRGB is true) - This method filters the image for easy feature detection If "tricolor" is true, only three gray levels will appear in the image: gray for unobserved cells, and black/white for occupied/empty cells respectively.

See also:
getAsImage
unsigned char mrpt::slam::COccupancyGridMap2D::getBasisCell ( int  x,
int  y 
) const [inline]
const CDynamicGrid<uint8_t>& mrpt::slam::COccupancyGridMap2D::getBasisMap ( ) const [inline]

Return the auxiliary "basis" map built while building the Voronoi diagram.

See also:
buildVoronoiDiagram

Definition at line 881 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getCell ( int  x,
int  y 
) const [inline]

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 531 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getCell_nocheck ( int  x,
int  y 
) const [inline, protected]

Read the real valued [0,1] contents of a cell, given its index.

Definition at line 195 of file COccupancyGridMap2D.h.

unsigned char mrpt::slam::COccupancyGridMap2D::GetNeighborhood ( int  cx,
int  cy 
) const [inline, private]

Returns a byte with the occupancy of the 8 sorrounding cells.

Parameters:
cxThe cell index
cyThe cell index
See also:
direction2idx
float mrpt::slam::COccupancyGridMap2D::getPos ( float  x,
float  y 
) const [inline]

Read the real valued [0,1] contents of a cell, given its coordinates.

Definition at line 553 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getResolution ( ) const [inline]

Returns the resolution of the grid map.

Definition at line 478 of file COccupancyGridMap2D.h.

cellType* mrpt::slam::COccupancyGridMap2D::getRow ( int  cy) [inline]

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 541 of file COccupancyGridMap2D.h.

const cellType* mrpt::slam::COccupancyGridMap2D::getRow ( int  cy) const [inline]

Access to a "row": mainly used for drawing grid as a bitmap efficiently, do not use it normally.

Definition at line 545 of file COccupancyGridMap2D.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::COccupancyGridMap2D::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CMetricMap.

unsigned int mrpt::slam::COccupancyGridMap2D::getSizeX ( ) const [inline]

Returns the horizontal size of grid map in cells count.

Definition at line 454 of file COccupancyGridMap2D.h.

unsigned int mrpt::slam::COccupancyGridMap2D::getSizeY ( ) const [inline]

Returns the vertical size of grid map in cells count.

Definition at line 458 of file COccupancyGridMap2D.h.

uint16_t mrpt::slam::COccupancyGridMap2D::getVoroniClearance ( int  cx,
int  cy 
) const [inline]

Reads a the clearance of a cell (in centimeters), after building the Voronoi diagram with buildVoronoiDiagram.

Definition at line 852 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

const CDynamicGrid<uint16_t>& mrpt::slam::COccupancyGridMap2D::getVoronoiDiagram ( ) const [inline]

Return the Voronoi diagram; each cell contains the distance to its closer obstacle, or 0 if not part of the Voronoi diagram.

See also:
buildVoronoiDiagram

Definition at line 884 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getXMax ( ) const [inline]

Returns the "x" coordinate of right side of grid map.

Definition at line 466 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getXMin ( ) const [inline]

Returns the "x" coordinate of left side of grid map.

Definition at line 462 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getYMax ( ) const [inline]

Returns the "y" coordinate of bottom side of grid map.

Definition at line 474 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::getYMin ( ) const [inline]

Returns the "y" coordinate of top side of grid map.

Definition at line 470 of file COccupancyGridMap2D.h.

static double mrpt::slam::COccupancyGridMap2D::H ( double  p) [static, protected]

Entropy computation internal function:

float mrpt::slam::COccupancyGridMap2D::idx2x ( const size_t  cx) const [inline]

Transform a cell index into a coordinate value.

Definition at line 490 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::idx2y ( const size_t  cy) const [inline]

Definition at line 491 of file COccupancyGridMap2D.h.

virtual void mrpt::slam::COccupancyGridMap2D::internal_clear ( ) [protected, virtual]

Clear the map: It set all cells to their default occupancy value (0.5), without changing the resolution (the grid extension is reset to the default values).

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::COccupancyGridMap2D::internal_insertObservation ( const CObservation obs,
const CPose3D robotPose = NULL 
) [protected, virtual]

Insert the observation information into this map.

Parameters:
obsThe observation
robotPoseThe 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)

After successfull execution, "lastObservationInsertionInfo" is updated.

See also:
insertionOptions, CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::COccupancyGridMap2D::isEmpty ( ) const [virtual]

Returns true upon map construction or after calling clear(), the return changes to false upon successful insertObservation() or any other method to load data in the map.

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::COccupancyGridMap2D::isStaticCell ( int  cx,
int  cy,
float  threshold = 0.7f 
) const [inline]

Definition at line 558 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::isStaticPos ( float  x,
float  y,
float  threshold = 0.7f 
) const [inline]

Returns "true" if cell is "static", i.e.if its occupancy is below a given threshold.

Definition at line 557 of file COccupancyGridMap2D.h.

static float mrpt::slam::COccupancyGridMap2D::l2p ( const cellType &  l) [inline, static]

Scales an integer representation of the log-odd into a real valued probability in [0,1], using p=exp(l)/(1+exp(l))

Definition at line 500 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MIN.

static uint8_t mrpt::slam::COccupancyGridMap2D::l2p_255 ( const cellType &  l) [inline, static]

Scales an integer representation of the log-odd into a linear scale [0,255], using p=exp(l)/(1+exp(l))

Definition at line 507 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MIN.

void mrpt::slam::COccupancyGridMap2D::laserScanSimulator ( CObservation2DRangeScan inout_Scan,
const CPose2D robotPose,
float  threshold = 0.5f,
size_t  N = 361,
float  noiseStd = 0,
unsigned int  decimation = 1,
float  angleNoiseStd = DEG2RAD(0) 
) const

Simulates a laser range scan into the current grid map.

The simulated scan is stored in a CObservation2DRangeScan object, which is also used to pass some parameters: all previously stored characteristics (as aperture,...) are taken into account for simulation. Only a few more parameters are needed. Additive gaussian noise can be optionally added to the simulated scan.

Parameters:
inout_Scan[IN/OUT] This must be filled with desired parameters before calling, and will contain the scan samples on return.
robotPose[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold[IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5.
N[IN] The count of range scan "rays", by default to 361.
noiseStd[IN] The standard deviation of measurement noise. If not desired, set to 0.
decimation[IN] The rays that will be simulated are at indexes: 0, D, 2D, 3D, ... Default is D=1
angleNoiseStd[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).
See also:
sonarSimulator
bool mrpt::slam::COccupancyGridMap2D::loadFromBitmap ( const mrpt::utils::CImage img,
float  resolution,
float  xCentralPixel = -1,
float  yCentralPixel = -1 
)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

Parameters:
imgThe image. Only a grayscale image will be used, so RGB components will be mixed if a color image is passed.
resolutionThe size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
xCentralPixelThe "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
yCentralPixelThe "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
Returns:
False on any error.
See also:
loadFromBitmapFile
bool mrpt::slam::COccupancyGridMap2D::loadFromBitmapFile ( const std::string &  file,
float  resolution,
float  xCentralPixel = -1,
float  yCentralPixel = -1 
)

Load the gridmap from a image in a file (the format can be any supported by CImage::loadFromFile).

Parameters:
fileThe file to be loaded.
resolutionThe size of a pixel (cell), in meters. Recall cells are always squared, so just a dimension is needed.
xCentralPixelThe "x" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
yCentralPixelThe "y" coordinate (0=first) for the pixel which will be taken at coordinates origin (0,0). If not supplied, it will be used the middle of the map.
Returns:
False on any error.
See also:
loadFromBitmap
virtual void mrpt::slam::COccupancyGridMap2D::OnPostSuccesfulInsertObs ( const CObservation ) [protected, virtual]

See base class.

Reimplemented from mrpt::slam::CMetricMap.

static cellType mrpt::slam::COccupancyGridMap2D::p2l ( const float &  p) [inline, static]

Scales a real valued probability in [0,1] to an integer representation of: log(p)-log(1-p) in the valid range of cellType.

Definition at line 514 of file COccupancyGridMap2D.h.

References OCCGRID_P2LTABLE_SIZE.

void mrpt::slam::COccupancyGridMap2D::resizeGrid ( float  new_x_min,
float  new_x_max,
float  new_y_min,
float  new_y_max,
float  new_cells_default_value = 0.5f,
bool  additionalMargin = true 
)

Change the size of gridmap, maintaining previous contents.

Parameters:
new_x_minThe "x" coordinates of new left most side of grid.
new_x_maxThe "x" coordinates of new right most side of grid.
new_y_minThe "y" coordinates of new top most side of grid.
new_y_maxThe "y" coordinates of new bottom most side of grid.
new_cells_default_valueThe value of the new cells, tipically 0.5.
additionalMarginIf set to true (default), an additional margin of a few meters will be added to the grid, ONLY if the new coordinates are larger than current ones.
See also:
setSize
bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFile ( const std::string &  file) const

Saves the gridmap as a graphical file (BMP,PNG,...).

The format will be derived from the file extension (see CImage::saveToFile )

Returns:
False on any error.
template<class CLANDMARKSMAP >
bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapFileWithLandmarks ( const std::string &  file,
const CLANDMARKSMAP *  landmarks,
bool  addTextLabels = false,
const mrpt::utils::TColor marks_color = mrpt::utils::TColor(0,0,255) 
) const [inline]

Saves the gridmap as a graphical bitmap file, 8 bit gray scale, 1 pixel is 1 cell, and with an overlay of landmarks.

Note:
The template parameter CLANDMARKSMAP is assumed to be mrpt::slam::CLandmarksMap normally.
Returns:
False on any error.

Definition at line 1041 of file COccupancyGridMap2D.h.

References mrpt::utils::TColor::black, mrpt::format(), MRPT_END, and MRPT_START.

static bool mrpt::slam::COccupancyGridMap2D::saveAsBitmapTwoMapsWithCorrespondences ( const std::string &  fileName,
const COccupancyGridMap2D m1,
const COccupancyGridMap2D m2,
const TMatchingPairList corrs 
) [static]

Saves a composite image with two gridmaps and lines representing a set of correspondences between them.

See also:
saveAsEMFTwoMapsWithCorrespondences
Returns:
False on any error.
static bool mrpt::slam::COccupancyGridMap2D::saveAsEMFTwoMapsWithCorrespondences ( const std::string &  fileName,
const COccupancyGridMap2D m1,
const COccupancyGridMap2D m2,
const TMatchingPairList corrs 
) [static]

Saves a composite image with two gridmaps and numbers for the correspondences between them.

See also:
saveAsBitmapTwoMapsWithCorrespondences
Returns:
False on any error.
void mrpt::slam::COccupancyGridMap2D::saveMetricMapRepresentationToFile ( const std::string &  filNamePrefix) const [virtual]

This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).

Implements mrpt::slam::CMetricMap.

void mrpt::slam::COccupancyGridMap2D::setBasisCell ( int  x,
int  y,
uint8_t  value 
) [inline]
void mrpt::slam::COccupancyGridMap2D::setCell ( int  x,
int  y,
float  value 
) [inline]

Change the contents [0,1] of a cell, given its index.

Definition at line 521 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setCell_nocheck ( int  x,
int  y,
float  value 
) [inline, protected]

Change the contents [0,1] of a cell, given its index.

Definition at line 188 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setPos ( float  x,
float  y,
float  value 
) [inline]

Change the contents [0,1] of a cell, given its coordinates.

Definition at line 549 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setRawCell ( unsigned int  cellIndex,
cellType  b 
) [inline, protected]

Changes a cell by its absolute index (Do not use it normally)

Definition at line 202 of file COccupancyGridMap2D.h.

void mrpt::slam::COccupancyGridMap2D::setSize ( float  x_min,
float  x_max,
float  y_min,
float  y_max,
float  resolution,
float  default_value = 0.5f 
)

Change the size of gridmap, erasing all its previous contents.

Parameters:
x_minThe "x" coordinates of left most side of grid.
x_maxThe "x" coordinates of right most side of grid.
y_minThe "y" coordinates of top most side of grid.
y_maxThe "y" coordinates of bottom most side of grid.
resolutionThe new size of cells.
default_valueThe value of cells, tipically 0.5.
See also:
ResizeGrid
void mrpt::slam::COccupancyGridMap2D::setVoroniClearance ( int  cx,
int  cy,
uint16_t  dist 
) [inline, protected]

Used to set the clearance of a cell, while building the Voronoi diagram.

Definition at line 866 of file COccupancyGridMap2D.h.

References ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::utils::CDynamicGrid< T >::cellByIndex(), mrpt::utils::CDynamicGrid< T >::getSizeX(), and mrpt::utils::CDynamicGrid< T >::getSizeY().

void mrpt::slam::COccupancyGridMap2D::simulateScanRay ( const double  x,
const double  y,
const double  angle_direction,
float &  out_range,
bool &  out_valid,
const unsigned int  max_ray_len,
const float  threshold_free = 0.5f,
const double  noiseStd = 0,
const double  angleNoiseStd = 0 
) const [inline]

Simulate just one "ray" in the grid map.

This method is used internally to sonarSimulator and laserScanSimulator.

void mrpt::slam::COccupancyGridMap2D::sonarSimulator ( CObservationRange inout_observation,
const CPose2D robotPose,
float  threshold = 0.5f,
float  rangeNoiseStd = 0,
float  angleNoiseStd = DEG2RAD(0) 
) const

Simulates the observations of a sonar rig into the current grid map.

The simulated ranges are stored in a CObservationRange object, which is also used to pass in some needed parameters, as the poses of the sonar sensors onto the mobile robot.

Parameters:
inout_observation[IN/OUT] This must be filled with desired parameters before calling, and will contain the simulated ranges on return.
robotPose[IN] The robot pose in this map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
threshold[IN] The minimum occupancy threshold to consider a cell to be occupied, for example 0.5.
rangeNoiseStd[IN] The standard deviation of measurement noise. If not desired, set to 0.
angleNoiseStd[IN] The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians).
See also:
laserScanSimulator
void mrpt::slam::COccupancyGridMap2D::subSample ( int  downRatio)

Performs a downsampling of the gridmap, by a given factor: resolution/=ratio.

void mrpt::slam::COccupancyGridMap2D::updateCell ( int  x,
int  y,
float  v 
)

Performs the Bayesian fusion of a new observation of a cell.

See also:
updateInfoChangeOnly, updateCell_fast_occupied, updateCell_fast_free
static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_free ( const unsigned &  x,
const unsigned &  y,
const cellType &  logodd_obs,
const cellType &  thres,
cellType *  mapArray,
const unsigned &  _size_x 
) [inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters:
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be OCCGRID_CELLTYPE_MAX-logodd_obs
See also:
updateCell_fast_occupied

Definition at line 348 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MAX.

static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_free ( cellType *  theCell,
const cellType &  logodd_obs,
const cellType &  thres 
) [inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "free-ness" of a cell, managing possible saturation.

Parameters:
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be OCCGRID_CELLTYPE_MAX-logodd_obs
See also:
updateCell_fast_occupied

Definition at line 370 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MAX.

static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_occupied ( cellType *  theCell,
const cellType &  logodd_obs,
const cellType &  thres 
) [inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters:
theCellThe cell to modify
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be OCCGRID_CELLTYPE_MIN+logodd_obs
See also:
updateCell, updateCell_fast_free

Definition at line 330 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MIN.

static void mrpt::slam::COccupancyGridMap2D::updateCell_fast_occupied ( const unsigned &  x,
const unsigned &  y,
const cellType &  logodd_obs,
const cellType &  thres,
cellType *  mapArray,
const unsigned &  _size_x 
) [inline, static]

Performs the Bayesian fusion of a new observation of a cell, without checking for grid limits nor updateInfoChangeOnly.

This method increases the "occupancy-ness" of a cell, managing possible saturation.

Parameters:
xCell index in X axis.
yCell index in Y axis.
logodd_obsObservation of the cell, in log-odd form as transformed by p2l.
thresThis must be OCCGRID_CELLTYPE_MIN+logodd_obs
See also:
updateCell, updateCell_fast_free

Definition at line 309 of file COccupancyGridMap2D.h.

References OCCGRID_CELLTYPE_MIN.

int mrpt::slam::COccupancyGridMap2D::x2idx ( double  x) const [inline]

Definition at line 485 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::x2idx ( float  x) const [inline]

Transform a coordinate value into a cell index.

Definition at line 482 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::x2idx ( float  x,
float  x_min 
) const [inline]

Transform a coordinate value into a cell index, using a diferent "x_min" value.

Definition at line 495 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx ( float  y) const [inline]

Definition at line 483 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx ( float  y,
float  y_min 
) const [inline]

Definition at line 496 of file COccupancyGridMap2D.h.

int mrpt::slam::COccupancyGridMap2D::y2idx ( double  y) const [inline]

Definition at line 486 of file COccupancyGridMap2D.h.


Friends And Related Function Documentation

friend class CMultiMetricMap [friend]

Definition at line 132 of file COccupancyGridMap2D.h.

friend class CMultiMetricMapPDF [friend]

Definition at line 133 of file COccupancyGridMap2D.h.


Member Data Documentation

Definition at line 114 of file COccupancyGridMap2D.h.

Definition at line 114 of file COccupancyGridMap2D.h.

Definition at line 114 of file COccupancyGridMap2D.h.

Used to store the 8 possible movements from a cell to the sorrounding ones.Filled in the constructor.

See also:
direction2idx

Definition at line 1186 of file COccupancyGridMap2D.h.

Definition at line 1186 of file COccupancyGridMap2D.h.

std::vector<float> mrpt::slam::COccupancyGridMap2D::entropyTable [static, protected]

Internally used to speed-up entropy calculation.

Definition at line 212 of file COccupancyGridMap2D.h.

With this struct options are provided to the observation insertion process.

See also:
CObservation::insertIntoGridMap

Definition at line 692 of file COccupancyGridMap2D.h.

std::vector<float> mrpt::slam::COccupancyGridMap2D::logoddsTable [static, protected]

A lookup table to compute occupancy probabilities in [0,1] from integer log-odds values in the cells, using $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.

Definition at line 216 of file COccupancyGridMap2D.h.

std::vector<uint8_t> mrpt::slam::COccupancyGridMap2D::logoddsTable_255 [static, protected]

A lookup table to compute occupancy probabilities in the range [0,255] from integer log-odds values in the cells, using $ p(m_{xy}) = \frac{1}{1+exp(-log_odd)} $.

This is used to speed-up conversions to grayscale images.

Definition at line 221 of file COccupancyGridMap2D.h.

A pointer to the vector logoddsTable_255.

Definition at line 227 of file COccupancyGridMap2D.h.

A pointer to the vector logoddsTable.

Definition at line 224 of file COccupancyGridMap2D.h.

Used for Voronoi calculation.Same struct as "map", but contains a "0" if not a basis point.

Definition at line 162 of file COccupancyGridMap2D.h.

True upon construction; used by isEmpty()

Definition at line 170 of file COccupancyGridMap2D.h.

Used to store the Voronoi diagram.

Contains the distance of each cell to its closer obstacles in 1/100th distance units (i.e. in centimeters), or 0 if not into the Voronoi diagram.

Definition at line 168 of file COccupancyGridMap2D.h.

std::vector<cellType> mrpt::slam::COccupancyGridMap2D::map [protected]

This is the buffer for storing the cells.In this dynamic size buffer are stored the cell values as "bytes", stored row by row, from left to right cells.

Definition at line 139 of file COccupancyGridMap2D.h.

std::vector<cellType> mrpt::slam::COccupancyGridMap2D::p2lTable [static, protected]

A lookup table for passing from float to log-odds as cellType.

Definition at line 230 of file COccupancyGridMap2D.h.

cellType* mrpt::slam::COccupancyGridMap2D::p2lTablePtr [static, protected]

A pointer to the vector p2lTable.

Definition at line 233 of file COccupancyGridMap2D.h.

These are auxiliary variables to speed up the computation of observation likelihood values for LF method among others, at a high cost in memory (see TLikelihoodOptions::enableLikelihoodCache).

Definition at line 155 of file COccupancyGridMap2D.h.

Definition at line 156 of file COccupancyGridMap2D.h.

Cell size, i.e.

resolution of the grid map.

Definition at line 151 of file COccupancyGridMap2D.h.

The size of the grid in cells.

Definition at line 143 of file COccupancyGridMap2D.h.

Definition at line 143 of file COccupancyGridMap2D.h.

The free-cells threshold used to compute the Voronoi diagram.

Definition at line 176 of file COccupancyGridMap2D.h.

Definition at line 147 of file COccupancyGridMap2D.h.

The limits of the grid in "units" (meters).

Definition at line 147 of file COccupancyGridMap2D.h.

Definition at line 147 of file COccupancyGridMap2D.h.

Definition at line 147 of file COccupancyGridMap2D.h.




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