10 #ifndef CHeightGridMap2D_H 11 #define CHeightGridMap2D_H 99 float resolution = 0.1
104 bool isEmpty()
const;
116 void loadFromConfigFile(
118 const std::string §ion);
139 float compute3DMatchingRatio(
142 float maxDistForCorr = 0.10f,
143 float maxMahaDistForCorr = 2.0f
148 void saveMetricMapRepresentationToFile(
149 const std::string &filNamePrefix
155 void getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr &outObj )
const;
169 bool getMinMaxHeight(
float &z_min,
float &z_max)
const;
172 size_t countObservedCells()
const;
179 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
180 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom ) MRPT_OVERRIDE;
183 float min_x,max_x,min_y,max_y,resolution;
192 namespace global_settings
A mesh representation of a surface which keeps the estimated height for each (x,y) location...
float var
The current standard deviation of the height (in meters).
float h
The current average height (in meters).
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
TColormap
Different colormaps.
TMapRepresentation
The type of map representation to be used.
void clear()
Erase all the contents of the map.
The contents of each cell in a CHeightGridMap2D map.
Standard object for storing any 3D lightweight object.
Only specializations of this class are defined for each enum type of interest.
uint32_t w
[mrSimpleAverage model] The accumulated weight: initially zero if un-observed, increased by one for e...
float v
Auxiliary (in meters).
This class allows loading and storing values and vectors of different types from a configuration text...
THeightGridmapCell()
Constructor.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
mrpt::utils::TColormap colorMap
float z_min
Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter...
A 2D grid of dynamic size which stores any kind of data at each cell.
#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...
Parameters related with inserting observations into the map.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
float cell2float(const THeightGridmapCell &c) const
float minDistBetweenPointsWhenInserting
When inserting a scan, a point cloud is first created with this minimum distance between the 3D point...
float u
Auxiliary variable for storing the incremental mean value (in meters).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
static void fill(bimap< enum_t, std::string > &m_map)
Declares a virtual base class for all metric maps storage classes.
bool filterByHeight
Wether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the r...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
TMapRepresentation m_mapType
The map representation type of this map.
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
maps::CHeightGridMap2D::TMapRepresentation enum_t
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
MAPS_IMPEXP bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH
If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh, otherwise, as a opengl::CPointCloudColoured Affects to:
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
3D line, represented by a base point and a director vector.