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<a href="#pub-methods">Public Member Functions</a> |
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<h1>mrpt::slam::CSimplePointsMap Class Reference</h1> </div>
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<!-- doxytag: class="mrpt::slam::CSimplePointsMap" --><!-- doxytag: inherits="mrpt::slam::CPointsMap" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. </p>
<p>This class stores the coordinates (x,y,z) and a "weight", or counter of how many times that point has been seen, used only if points fusion is enabled in the options structure. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a>, CPoint, <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00050">50</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
<p><code>#include <<a class="el" href="_c_simple_points_map_8h_source.html">mrpt/slam/CSimplePointsMap.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CSimplePointsMap:<!-- endSectionHeader --></div>
<!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_simple_points_map__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_simple_points_map_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_simple_points_map_inherit__map" id="mrpt_1_1slam_1_1_c_simple_points_map_inherit__map">
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<p><a href="classmrpt_1_1slam_1_1_c_simple_points_map-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a0cde9fc4b7c3e5550a236c1efb9c967b">~CSimplePointsMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a0cde9fc4b7c3e5550a236c1efb9c967b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a390476a205aee65871fa25c4aba727fc">CSimplePointsMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a390476a205aee65871fa25c4aba727fc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a50e9f7d2de10d17cfb83fc579621133c">copyFrom</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator. <a href="#a50e9f7d2de10d17cfb83fc579621133c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#af85649f2cf5bd9a961242c1f4dd2bd64">loadFromRangeScan</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &rangeScan, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> *robotPose=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="class_transform.html">Transform</a> the range scan into a set of cartesian coordinated points. <a href="#af85649f2cf5bd9a961242c1f4dd2bd64"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#adb930143393fa865568a5652d4895983">loadFromRangeScan</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">CObservation3DRangeScan</a> &rangeScan, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> *robotPose=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enter the set of cartesian coordinated points from the 3D range scan into the map. <a href="#adb930143393fa865568a5652d4895983"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#abb8662dbaa2a85de43d10d51c30e1c99">load2D_from_text_file</a> (std::string file)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load from a text file. <a href="#abb8662dbaa2a85de43d10d51c30e1c99"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ada20ce3ce6d584b51b4f3b4e4bbaf1df">load3D_from_text_file</a> (std::string file)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load from a text file. <a href="#ada20ce3ce6d584b51b4f3b4e4bbaf1df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a06af42264abe7da387536b4c0397eb45">fuseWith</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> *otherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert the contents of another map into this one, fusing the previous content with the new one. <a href="#a06af42264abe7da387536b4c0397eb45"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a226ca6f94e49d91f34fdb29ed2552221">insertAnotherMap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> *otherMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &otherPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert the contents of another map into this one, without fusing close points. <a href="#a226ca6f94e49d91f34fdb29ed2552221"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a0d32c81ea9c9f841b5694c3000a6b869">setPoint</a> (size_t index, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes a given point from map, as a 2D point. <a href="#a0d32c81ea9c9f841b5694c3000a6b869"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ae83128645d8de3071410c59b291730a6">setPoint</a> (size_t index, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes a given point from map, as a 3D point. <a href="#ae83128645d8de3071410c59b291730a6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ae7ca18be5f9838fc32c5b55ed99d1cb8">setPoint</a> (size_t index, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a9e2ee9304dea0b0e1b712809f4317e55">x</a>, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a49d0f0bca8d960111df816b6f50b3132">y</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes a given point from map. <a href="#ae7ca18be5f9838fc32c5b55ed99d1cb8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a734a75809364e3a3055bcaa1dd3217e2">setPoint</a> (size_t index, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a9e2ee9304dea0b0e1b712809f4317e55">x</a>, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a49d0f0bca8d960111df816b6f50b3132">y</a>, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a347bc872aaa9cf01b17a6f087fb8c6c1">z</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes a given point from map. <a href="#a734a75809364e3a3055bcaa1dd3217e2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a433bfc015ace8cb684679a8540523092">insertPoint</a> (float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a9e2ee9304dea0b0e1b712809f4317e55">x</a>, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a49d0f0bca8d960111df816b6f50b3132">y</a>, float <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a347bc872aaa9cf01b17a6f087fb8c6c1">z</a>=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provides a way to insert individual points into the map: <a href="#a433bfc015ace8cb684679a8540523092"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a15e538bb56ff33223591c223713eb8be">insertPoint</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> &new_pnt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Provides a way to insert individual points into the map: <a href="#a15e538bb56ff33223591c223713eb8be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a78c100c96fa81feec7a65378bffc20ce">applyDeletionMask</a> (std::vector< bool > &mask)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove from the map the points marked in a bool's array as "true". <a href="#a78c100c96fa81feec7a65378bffc20ce"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a95aa5f5e51efd4fb03b5697fb4fa3143">auxParticleFilterCleanUp</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". <a href="#a95aa5f5e51efd4fb03b5697fb4fa3143"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ad463833fa2d37261608091c00111008b">reserve</a> (size_t newLength)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. <a href="#ad463833fa2d37261608091c00111008b"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<typename VECTOR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a7d78bba00146cb260b794fd201427dbd">setAllPointsTemplate</a> (const VECTOR &X, const VECTOR &Y, const VECTOR &Z=VECTOR())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros). <a href="#a7d78bba00146cb260b794fd201427dbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#afa58a00a1df515e28536d7f22308db6c">setAllPoints</a> (const std::vector< float > &X, const std::vector< float > &Y, const std::vector< float > &Z)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set all the points at once from vectors with X,Y and Z coordinates. <a href="#afa58a00a1df515e28536d7f22308db6c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ab87fd7b3444544bff902a2d2d135a877">setAllPoints</a> (const std::vector< float > &X, const std::vector< float > &Y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set all the points at once from vectors with X and Y coordinates (Z=0). <a href="#ab87fd7b3444544bff902a2d2d135a877"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a6c5f6976255dc9b50b218af23f8ea7bf">getAsSimplePointsMap</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. <a href="#a6c5f6976255dc9b50b218af23f8ea7bf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a340ffc456415944bd87fc75c370eb575">getAsSimplePointsMap</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a2d351195a96a8fcf930379ca5daf39d0">internal_clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the map, erasing all the points. <a href="#a2d351195a96a8fcf930379ca5daf39d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#aa2c834fc519b3e00a40cbb4242347229">internal_insertObservation</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> *obs, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> *robotPose=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert the observation information into this map. <a href="#aa2c834fc519b3e00a40cbb4242347229"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a8a8929349c1352ef4f739b4d04be9d38">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#adcb08c25d652b14da830edd74f35d73c">_init_CSimplePointsMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a1c2a884bc69c0b3161674857b9125b67">classCSimplePointsMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ab6cb11b774ee68b80e1d24230c11b686">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a9ad2d0be295a634f49f6dd9aab32962e">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a46e7c0d1dcd1e783a2863e9f544800fa">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a46e7c0d1dcd1e783a2863e9f544800fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ade98e5012f143f773dca038ebedaf414">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#ade98e5012f143f773dca038ebedaf414"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a83f0f04ba67069e0191df93cf2fd2ecd">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ae475810daf1b6cfac6a79683d47d527a">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a8a8929349c1352ef4f739b4d04be9d38"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::SmartPtr" ref="a8a8929349c1352ef4f739b4d04be9d38" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">mrpt::slam::CSimplePointsMap::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00053">53</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a0cde9fc4b7c3e5550a236c1efb9c967b"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::~CSimplePointsMap" ref="a0cde9fc4b7c3e5550a236c1efb9c967b" args="()" -->
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<td class="memname">virtual mrpt::slam::CSimplePointsMap::~CSimplePointsMap </td>
<td>(</td>
<td class="paramname"> )</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<a class="anchor" id="a390476a205aee65871fa25c4aba727fc"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::CSimplePointsMap" ref="a390476a205aee65871fa25c4aba727fc" args="()" -->
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<td class="memname">mrpt::slam::CSimplePointsMap::CSimplePointsMap </td>
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<p>Default constructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a9ad2d0be295a634f49f6dd9aab32962e"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::_GetBaseClass" ref="a9ad2d0be295a634f49f6dd9aab32962e" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CSimplePointsMap::_GetBaseClass </td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aa6ba780484bba068796c4195ad10392b">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="a78c100c96fa81feec7a65378bffc20ce"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::applyDeletionMask" ref="a78c100c96fa81feec7a65378bffc20ce" args="(std::vector< bool > &mask)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::applyDeletionMask </td>
<td>(</td>
<td class="paramtype">std::vector< bool > & </td>
<td class="paramname"> <em>mask</em> )</td>
<td><code> [virtual]</code></td>
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<p>Remove from the map the points marked in a bool's array as "true". </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">std::exception</td><td>If mask size is not equal to points count. </td></tr>
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</dd>
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<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a46a9485f4df6d955d904e148e0c4671f">mrpt::slam::CPointsMap</a>.</p>
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<td class="memname">void mrpt::slam::CSimplePointsMap::auxParticleFilterCleanUp </td>
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<td><code> [virtual]</code></td>
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<p>This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". </p>
<p>This method should normally do nothing, but in some cases can be used to free auxiliary cached variables. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#af319432da7479ae411a9e0a21fa870d5">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="a50e9f7d2de10d17cfb83fc579621133c"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::copyFrom" ref="a50e9f7d2de10d17cfb83fc579621133c" args="(const CPointsMap &obj)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::copyFrom </td>
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<td class="paramname"> <em>obj</em> )</td>
<td><code> [virtual]</code></td>
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<p>Copy operator. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ac2734b489f3bb0e47f518f71f313bea0">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="ae475810daf1b6cfac6a79683d47d527a"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::Create" ref="ae475810daf1b6cfac6a79683d47d527a" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_simple_points_map_ptr.html">CSimplePointsMapPtr</a> mrpt::slam::CSimplePointsMap::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CSimplePointsMap::CreateObject </td>
<td>(</td>
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<td><code> [static]</code></td>
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<a class="anchor" id="ade98e5012f143f773dca038ebedaf414"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::duplicate" ref="ade98e5012f143f773dca038ebedaf414" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CSimplePointsMap::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a06af42264abe7da387536b4c0397eb45"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::fuseWith" ref="a06af42264abe7da387536b4c0397eb45" args="(CPointsMap *otherMap, float minDistForFuse=0.02f, std::vector< bool > *notFusedPoints=NULL)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::fuseWith </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> * </td>
<td class="paramname"> <em>otherMap</em>, </td>
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<td class="paramname"> <em>minDistForFuse</em> = <code>0.02f</code>, </td>
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<td class="paramname"> <em>notFusedPoints</em> = <code>NULL</code> </td>
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<p>Insert the contents of another map into this one, fusing the previous content with the new one. </p>
<p>This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>The other map whose points are to be inserted into this one. </td></tr>
<tr><td class="paramname">minDistForFuse</td><td>Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added. </td></tr>
<tr><td class="paramname">notFusedPoints</td><td>If a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not. </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a226ca6f94e49d91f34fdb29ed2552221" title="Insert the contents of another map into this one, without fusing close points.">insertAnotherMap</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ad28868b773c62dd8ad8039a0c2c619cd">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="a6c5f6976255dc9b50b218af23f8ea7bf"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::getAsSimplePointsMap" ref="a6c5f6976255dc9b50b218af23f8ea7bf" args="() const " -->
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<td class="memname">virtual const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a>* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap </td>
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<p>If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. </p>
<p>Otherwise, return NULL </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ae7b0688c0e2c0d75554e22b739649463">mrpt::slam::CMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00207">207</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<td class="memname">virtual <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a>* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap </td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ace4e7cc2a2f070d556c5074117a3aa2f">mrpt::slam::CMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00208">208</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CSimplePointsMap::GetRuntimeClass </td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ad2982f2cf593e82861cc22e742335eab">mrpt::slam::CPointsMap</a>.</p>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> * </td>
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<p>Insert the contents of another map into this one, without fusing close points. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>The other map whose points are to be inserted into this one. </td></tr>
<tr><td class="paramname">otherPose</td><td>The pose of the other map in the coordinates of THIS map </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a06af42264abe7da387536b4c0397eb45" title="Insert the contents of another map into this one, fusing the previous content with the new one...">fuseWith</a> </dd></dl>
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<a class="anchor" id="a433bfc015ace8cb684679a8540523092"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::insertPoint" ref="a433bfc015ace8cb684679a8540523092" args="(float x, float y, float z=0)" -->
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<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"> <em>z</em> = <code>0</code> </td>
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<p>Provides a way to insert individual points into the map: </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aac4f46db8b483dd14549ab6ce04782a0">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="a15e538bb56ff33223591c223713eb8be"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::insertPoint" ref="a15e538bb56ff33223591c223713eb8be" args="(const mrpt::math::TPoint3D &new_pnt)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::insertPoint </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">mrpt::math::TPoint3D</a> & </td>
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<td><code> [inline]</code></td>
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<p>Provides a way to insert individual points into the map: </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#af0ee824da205af075d588eee9b13849b">mrpt::slam::CPointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00154">154</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<p>Clear the map, erasing all the points. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a9c19a7f400d7edb087a81e28cafb39d1">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="aa2c834fc519b3e00a40cbb4242347229"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::internal_insertObservation" ref="aa2c834fc519b3e00a40cbb4242347229" args="(const CObservation *obs, const CPose3D *robotPose=NULL)" -->
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<td class="memname">bool mrpt::slam::CSimplePointsMap::internal_insertObservation </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> * </td>
<td class="paramname"> <em>obs</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"> <em>robotPose</em> = <code>NULL</code> </td>
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<td></td><td><code> [protected, virtual]</code></td>
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<p>Insert the observation information into this map. </p>
<p>This method must be implemented in derived classes. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">obs</td><td>The observation </td></tr>
<tr><td class="paramname">robotPose</td><td>The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)</td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#abb4939fca9a78fe17a0fe71684ef486c" title="This method is equivalent to:">CObservation::insertObservationInto</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aab88fec1ad02cceaaaf74c02d4e6f68a">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="abb8662dbaa2a85de43d10d51c30e1c99"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::load2D_from_text_file" ref="abb8662dbaa2a85de43d10d51c30e1c99" args="(std::string file)" -->
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<td class="memname">bool mrpt::slam::CSimplePointsMap::load2D_from_text_file </td>
<td>(</td>
<td class="paramtype">std::string </td>
<td class="paramname"> <em>file</em> )</td>
<td><code> [virtual]</code></td>
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<p>Load from a text file. </p>
<p>In each line there are a point coordinates. Returns false if any error occured, true elsewere. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a4eeb9c5800b0d0d08a45a9de9c205a53">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="ada20ce3ce6d584b51b4f3b4e4bbaf1df"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::load3D_from_text_file" ref="ada20ce3ce6d584b51b4f3b4e4bbaf1df" args="(std::string file)" -->
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<td class="memname">bool mrpt::slam::CSimplePointsMap::load3D_from_text_file </td>
<td>(</td>
<td class="paramtype">std::string </td>
<td class="paramname"> <em>file</em> )</td>
<td><code> [virtual]</code></td>
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<p>Load from a text file. </p>
<p>In each line there are a point coordinates. Returns false if any error occured, true elsewere. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a472b606085e30cd150fa114fe79dc7c4">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="adb930143393fa865568a5652d4895983"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::loadFromRangeScan" ref="adb930143393fa865568a5652d4895983" args="(const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::loadFromRangeScan </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">CObservation3DRangeScan</a> & </td>
<td class="paramname"> <em>rangeScan</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"> <em>robotPose</em> = <code>NULL</code> </td>
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<p>Enter the set of cartesian coordinated points from the 3D range scan into the map. </p>
<p>The options in "insertionOptions" are considered in this method. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">rangeScan</td><td>The 3D scan to be inserted into this map </td></tr>
<tr><td class="paramname">robotPose</td><td>The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.</td></tr>
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</dd>
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<p>NOTE: Only ranges marked as "valid=true" in the observation will be inserted</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html" title="Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e...">CObservation3DRangeScan</a> </dd></dl>
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<a class="anchor" id="af85649f2cf5bd9a961242c1f4dd2bd64"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::loadFromRangeScan" ref="af85649f2cf5bd9a961242c1f4dd2bd64" args="(const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::loadFromRangeScan </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> & </td>
<td class="paramname"> <em>rangeScan</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"> <em>robotPose</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p><a class="el" href="class_transform.html">Transform</a> the range scan into a set of cartesian coordinated points. </p>
<p>The options in "insertionOptions" are considered in this method. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">rangeScan</td><td>The scan to be inserted into this map </td></tr>
<tr><td class="paramname">robotPose</td><td>The robot 3D pose, default to (0,0,0|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.</td></tr>
</table>
</dd>
</dl>
<p>NOTE: Only ranges marked as "valid=true" in the observation will be inserted</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from ...">CObservation2DRangeScan</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a71bb7e6036298e63ebcac81a2a4fdc75">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="ad463833fa2d37261608091c00111008b"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::reserve" ref="ad463833fa2d37261608091c00111008b" args="(size_t newLength)" -->
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<td class="memname">void mrpt::slam::CSimplePointsMap::reserve </td>
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<td class="paramname"> <em>newLength</em> )</td>
<td><code> [virtual]</code></td>
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<p>Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory. </p>
<p>This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a44c7ce9395f8fd360638e51f0e8338cc">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="afa58a00a1df515e28536d7f22308db6c"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setAllPoints" ref="afa58a00a1df515e28536d7f22308db6c" args="(const std::vector< float > &X, const std::vector< float > &Y, const std::vector< float > &Z)" -->
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<td class="memname">virtual void mrpt::slam::CSimplePointsMap::setAllPoints </td>
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<td class="paramtype">const std::vector< float > & </td>
<td class="paramname"> <em>X</em>, </td>
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<td></td>
<td class="paramtype">const std::vector< float > & </td>
<td class="paramname"> <em>Y</em>, </td>
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<td class="paramname"> <em>Z</em> </td>
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<td>)</td>
<td></td><td><code> [inline, virtual]</code></td>
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<p>Set all the points at once from vectors with X,Y and Z coordinates. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aa2c06bb264415a86fc5e4d743dcb56ef" title="Returns a copy of the 2D/3D points as a std::vector of float coordinates.">getAllPoints</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ab33b22ee4c0abbfccf1d5173bd8ab626">mrpt::slam::CPointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00193">193</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<a class="anchor" id="ab87fd7b3444544bff902a2d2d135a877"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setAllPoints" ref="ab87fd7b3444544bff902a2d2d135a877" args="(const std::vector< float > &X, const std::vector< float > &Y)" -->
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<td class="memname">virtual void mrpt::slam::CSimplePointsMap::setAllPoints </td>
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<td class="paramtype">const std::vector< float > & </td>
<td class="paramname"> <em>X</em>, </td>
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<td class="paramtype">const std::vector< float > & </td>
<td class="paramname"> <em>Y</em> </td>
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<td>)</td>
<td></td><td><code> [inline, virtual]</code></td>
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<p>Set all the points at once from vectors with X and Y coordinates (Z=0). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aa2c06bb264415a86fc5e4d743dcb56ef" title="Returns a copy of the 2D/3D points as a std::vector of float coordinates.">getAllPoints</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a261a3aac1a2b5412149901fb3c5b95bb">mrpt::slam::CPointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00199">199</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<a class="anchor" id="a7d78bba00146cb260b794fd201427dbd"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setAllPointsTemplate" ref="a7d78bba00146cb260b794fd201427dbd" args="(const VECTOR &X, const VECTOR &Y, const VECTOR &Z=VECTOR())" -->
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template<typename VECTOR > </div>
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<td class="memname">void mrpt::slam::CSimplePointsMap::setAllPointsTemplate </td>
<td>(</td>
<td class="paramtype">const VECTOR & </td>
<td class="paramname"> <em>X</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const VECTOR & </td>
<td class="paramname"> <em>Y</em>, </td>
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<td class="paramkey"></td>
<td></td>
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<td class="paramname"> <em>Z</em> = <code>VECTOR()</code> </td>
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<p>Set all the points at once from vectors with X,Y and Z coordinates (if Z is not provided, it will be set to all zeros). </p>
<dl><dt><b>Template Parameters:</b></dt><dd>
<table class="">
<tr><td class="paramname">VECTOR</td><td>can be <a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">mrpt::vector_float</a> or std::vector<float> or any other column or row <a class="el" href="class_eigen_1_1_matrix.html">Eigen::Matrix</a>. </td></tr>
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</dd>
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<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00179">179</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00267">ASSERT_</a>, <a class="el" href="mrpt__macros_8h_source.html#l00270">ASSERT_EQUAL_</a>, and <a class="el" href="_core_2_math_functions_8h_source.html#l00709">internal::y</a>.</p>
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<a class="anchor" id="a0d32c81ea9c9f841b5694c3000a6b869"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setPoint" ref="a0d32c81ea9c9f841b5694c3000a6b869" args="(size_t index, CPoint2D &p)" -->
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<td class="memname">virtual void mrpt::slam::CSimplePointsMap::setPoint </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"> <em>index</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html">CPoint2D</a> & </td>
<td class="paramname"> <em>p</em> </td>
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<p>Changes a given point from map, as a 2D point. </p>
<p>First index is 0. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">Throws</td><td>std::exception on index out of bound. </td></tr>
</table>
</dd>
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<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a1bcfc70bba1c30a3c329bf83517c21c0">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="a734a75809364e3a3055bcaa1dd3217e2"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setPoint" ref="a734a75809364e3a3055bcaa1dd3217e2" args="(size_t index, float x, float y, float z)" -->
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<td class="paramname"> <em>index</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>z</em> </td>
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<p>Changes a given point from map. </p>
<p>First index is 0. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">Throws</td><td>std::exception on index out of bound. </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a928dc1b074efb6fb3b041ac1cce96af0">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="ae83128645d8de3071410c59b291730a6"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setPoint" ref="ae83128645d8de3071410c59b291730a6" args="(size_t index, CPoint3D &p)" -->
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<td class="paramname"> <em>index</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"> <em>p</em> </td>
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<p>Changes a given point from map, as a 3D point. </p>
<p>First index is 0. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">Throws</td><td>std::exception on index out of bound. </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6b9975780a9c59d5f9bde15abc331254">mrpt::slam::CPointsMap</a>.</p>
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<a class="anchor" id="ae7ca18be5f9838fc32c5b55ed99d1cb8"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::setPoint" ref="ae7ca18be5f9838fc32c5b55ed99d1cb8" args="(size_t index, float x, float y)" -->
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<td class="paramname"> <em>index</em>, </td>
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<td class="paramname"> <em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"> <em>y</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Changes a given point from map. </p>
<p>First index is 0. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">Throws</td><td>std::exception on index out of bound. </td></tr>
</table>
</dd>
</dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#af7f0aba33c00cb93154279e1a5baadfd">mrpt::slam::CPointsMap</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="adcb08c25d652b14da830edd74f35d73c"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::_init_CSimplePointsMap" ref="adcb08c25d652b14da830edd74f35d73c" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#adcb08c25d652b14da830edd74f35d73c">mrpt::slam::CSimplePointsMap::_init_CSimplePointsMap</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00053">53</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<a class="anchor" id="a1c2a884bc69c0b3161674857b9125b67"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::classCSimplePointsMap" ref="a1c2a884bc69c0b3161674857b9125b67" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a1c2a884bc69c0b3161674857b9125b67">mrpt::slam::CSimplePointsMap::classCSimplePointsMap</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00053">53</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<a class="anchor" id="ab6cb11b774ee68b80e1d24230c11b686"></a><!-- doxytag: member="mrpt::slam::CSimplePointsMap::classinfo" ref="ab6cb11b774ee68b80e1d24230c11b686" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ab6cb11b774ee68b80e1d24230c11b686">mrpt::slam::CSimplePointsMap::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_points_map_8h_source.html#l00053">53</a> of file <a class="el" href="_c_simple_points_map_8h_source.html">CSimplePointsMap.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
