10#ifndef CHeightGridMap2D_MRF_MRF_H
11#define CHeightGridMap2D_MRF_MRF_H
42 double x_min = -2,
double x_max = 2,
43 double y_min = -2,
double y_max = 2,
double resolution = 0.1,
44 bool run_first_map_estimation_now=
true
70 virtual
bool dem_get_z_by_cell(const
size_t cx, const
size_t cy,
double &z_out) const
MRPT_OVERRIDE;
71 virtual
bool dem_get_z(const
double x, const
double y,
double &z_out) const
MRPT_OVERRIDE;
76 return &insertionOptions;
81 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
82 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
85 bool run_map_estimation_at_ctor;
86 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...
Virtual base class for Digital Elevation Model (DEM) maps.
CHeightGridMap2D_MRF represents a PDF of gas concentrations over a 2D area.
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &meanObj, mrpt::opengl::CSetOfObjectsPtr &varObj) const MRPT_OVERRIDE
Returns two 3D objects representing the mean and variance maps.
virtual bool insertIndividualPoint(const double x, const double y, const double z, const CHeightGridMap2D_Base::TPointInsertParams ¶ms=CHeightGridMap2D_Base::TPointInsertParams()) MRPT_OVERRIDE
Update the DEM with one new point.
void internal_clear() MRPT_OVERRIDE
Erase all the contents of the map.
virtual ~CHeightGridMap2D_MRF()
Destructor.
CHeightGridMap2D_MRF(TMapRepresentation mapType=mrGMRF_SD, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1, bool run_first_map_estimation_now=true)
Constructor.
virtual void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE
Returns a 3D object representing the 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.
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...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Extra params for insertIndividualPoint()
Parameters related with inserting observations into the map.
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,...
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.
Parameters common to any derived class.