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<div class="title">CBeaconMap.h</div> </div>
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<a href="_c_beacon_map_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CBeaconMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CBeaconMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_metric_map_8h.html">mrpt/slam/CMetricMap.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_beacon_8h.html">mrpt/slam/CBeacon.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_dynamic_grid_8h.html">mrpt/utils/CDynamicGrid.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html">mrpt/maps/link_pragmas.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>slam
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">class </span>CObservationBeaconRanges;
<a name="l00048"></a>00048
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_ptr.html#ace0d5849163581c5769baedf4eef952e">00050</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a>, <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> ,<a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> )
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="comment">/** A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).</span>
<a name="l00053"></a>00053 <span class="comment"> * <br></span>
<a name="l00054"></a>00054 <span class="comment"> * The individual beacons are defined as mrpt::slam::CBeacon objects.</span>
<a name="l00055"></a>00055 <span class="comment"> * <br></span>
<a name="l00056"></a>00056 <span class="comment"> * When invoking CBeaconMap::insertObservation(), landmarks will be extracted and fused into the map.</span>
<a name="l00057"></a>00057 <span class="comment"> * The only currently supported observation type is mrpt::slam::CObservationBeaconRanges.</span>
<a name="l00058"></a>00058 <span class="comment"> * See insertionOptions and likelihoodOptions for parameters used when creating and fusing beacon landmarks.</span>
<a name="l00059"></a>00059 <span class="comment"> * <br></span>
<a name="l00060"></a>00060 <span class="comment"> * Use "TInsertionOptions::insertAsMonteCarlo" to select between 2 different behaviors:</span>
<a name="l00061"></a>00061 <span class="comment"> * - Initial PDF of beacons: MonteCarlo, after convergence, pass to Gaussians; or</span>
<a name="l00062"></a>00062 <span class="comment"> * - Initial PDF of beacons: SOG, after convergence, a single Gaussian.</span>
<a name="l00063"></a>00063 <span class="comment"> *</span>
<a name="l00064"></a>00064 <span class="comment"> * Refer to the papers: []</span>
<a name="l00065"></a>00065 <span class="comment"> *</span>
<a name="l00066"></a>00066 <span class="comment"> * \ingroup mrpt_maps_grp</span>
<a name="l00067"></a>00067 <span class="comment"> * \sa CMetricMap</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 class <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a>
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00072"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a680fc07cd2211a4c96e90fe4d2b65f3e">00072</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a> )
<a name="l00073"></a>00073
<a name="l00074"></a>00074 public:
<a name="l00075"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a970050930df22b53c16b68ff8c0dcfde">00075</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>> <a class="code" href="classstd_1_1deque.html">TSequenceBeacons</a>;
<a name="l00076"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a344acb09a45b693c80d27ac2624d0eb2">00076</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>>::<a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a>;
<a name="l00077"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a69ffbf9739be11525d3cbe16ed191e83">00077</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>>::<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> <a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a>;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 protected:<span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** The individual beacons */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#af158107c00aed005d3b197b9cd029a31">00081</a> TSequenceBeacons m_beacons;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Clear the map, erasing all landmarks.</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 virtual <span class="keywordtype">void</span> internal_clear();
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Insert the observation information into this map. This method must be implemented</span>
<a name="l00088"></a>00088 <span class="comment"> * in derived classes.</span>
<a name="l00089"></a>00089 <span class="comment"> * \param obs The observation</span>
<a name="l00090"></a>00090 <span class="comment"> * \param robotPose 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)</span>
<a name="l00091"></a>00091 <span class="comment"> *</span>
<a name="l00092"></a>00092 <span class="comment"> * \sa CObservation::insertObservationInto</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a>00094 virtual <span class="keywordtype">bool</span> internal_insertObservation( const <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> *obs, const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> *robotPose = NULL );
<a name="l00095"></a>00095
<a name="l00096"></a>00096 public:<span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Constructor */</span>
<a name="l00098"></a>00098 <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a>();
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keywordtype">void</span> resize(const <span class="keywordtype">size_t</span> N); <span class="comment">//!< Resize the number of SOG modes</span>
<a name="l00101"></a>00101 <span class="comment"></span><span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a1888b92a122444de47a83c589e57f381">00103</a> const <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>& operator [](<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00104"></a>00104 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_beacons.size())
<a name="l00105"></a>00105 <span class="keywordflow">return</span> m_beacons[i];
<a name="l00106"></a>00106 }<span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a5366a3d5101d8aa5639b6fed0cb1bc14">00108</a> <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>& <span class="keyword">get</span>(<span class="keywordtype">size_t</span> i) <span class="keyword">const</span>{
<a name="l00109"></a>00109 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_beacons.size())
<a name="l00110"></a>00110 <span class="keywordflow">return</span> m_beacons[i];
<a name="l00111"></a>00111 }<span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00113"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a63fab5f16c55a0b2003afddbc88749a3">00113</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>& operator [](<span class="keywordtype">size_t</span> i) {
<a name="l00114"></a>00114 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_beacons.size())
<a name="l00115"></a>00115 <span class="keywordflow">return</span> m_beacons[i];
<a name="l00116"></a>00116 }<span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00118"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#aa91684a568b0a983e457822cefde73d7">00118</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>& <span class="keyword">get</span>(<span class="keywordtype">size_t</span> i) {
<a name="l00119"></a>00119 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_beacons.size())
<a name="l00120"></a>00120 <span class="keywordflow">return</span> m_beacons[i];
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122
<a name="l00123"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#af044fdfcfd8ff46030b86c8776c41bf7">00123</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#af044fdfcfd8ff46030b86c8776c41bf7">begin</a>() { <span class="keywordflow">return</span> m_beacons.begin(); }
<a name="l00124"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ab1274d9dc650c45d109cb2a9cbe2736c">00124</a> <a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ab1274d9dc650c45d109cb2a9cbe2736c">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_beacons.begin(); }
<a name="l00125"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ac9e86a012b04c15a35bd7253341105f6">00125</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ac9e86a012b04c15a35bd7253341105f6">end</a>() { <span class="keywordflow">return</span> m_beacons.end(); }
<a name="l00126"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a58341cb50e5685e8104a98cca794b1db">00126</a> <a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a58341cb50e5685e8104a98cca794b1db">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_beacons.end(); }
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Inserts a copy of the given mode into the SOG */</span>
<a name="l00129"></a><a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a5ae4f5765259e34a70cd1ed94f140976">00129</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a5ae4f5765259e34a70cd1ed94f140976" title="Inserts a copy of the given mode into the SOG.">push_back</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>& m) {
<a name="l00130"></a>00130 m_beacons.push_back( m );
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose"</span>
<a name="l00134"></a>00134 <span class="comment"> * In the case of a multi-metric map, this returns the average between the maps. This method always return 0 for grid maps.</span>
<a name="l00135"></a>00135 <span class="comment"> * \param otherMap [IN] The other map to compute the matching with.</span>
<a name="l00136"></a>00136 <span class="comment"> * \param otherMapPose [IN] The 6D pose of the other map as seen from "this".</span>
<a name="l00137"></a>00137 <span class="comment"> * \param minDistForCorr [IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.</span>
<a name="l00138"></a>00138 <span class="comment"> * \param minMahaDistForCorr [IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.</span>
<a name="l00139"></a>00139 <span class="comment"> *</span>
<a name="l00140"></a>00140 <span class="comment"> * \return The matching ratio [0,1]</span>
<a name="l00141"></a>00141 <span class="comment"> * \sa computeMatchingWith2D</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a>00143 <span class="keywordtype">float</span> compute3DMatchingRatio(
<a name="l00144"></a>00144 <span class="keyword">const</span> CMetricMap *otherMap,
<a name="l00145"></a>00145 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &otherMapPose,
<a name="l00146"></a>00146 <span class="keywordtype">float</span> minDistForCorr = 0.10f,
<a name="l00147"></a>00147 <span class="keywordtype">float</span> minMahaDistForCorr = 2.0f
<a name="l00148"></a>00148 ) <span class="keyword">const</span>;
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment"> /** With this struct options are provided to the likelihood computations.</span>
<a name="l00151"></a>00151 <span class="comment"> */</span>
<a name="l00152"></a>00152 <span class="keyword">struct </span><a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> TLikelihoodOptions : <span class="keyword">public</span> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Initilization of default parameters</span>
<a name="l00156"></a>00156 <span class="comment"> */</span>
<a name="l00157"></a>00157 TLikelihoodOptions();
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00160"></a>00160 <span class="comment"> */</span>
<a name="l00161"></a>00161 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00162"></a>00162 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00163"></a>00163 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a>00167 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00168"></a>00168 <span class="comment"></span>
<a name="l00169"></a>00169 <span class="comment"> /** The standard deviation used for Beacon ranges likelihood (default=0.08m).</span>
<a name="l00170"></a>00170 <span class="comment"> */</span>
<a name="l00171"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_likelihood_options.html#a811874bb34db9ee74ebd7d1911aff907">00171</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_likelihood_options.html#a811874bb34db9ee74ebd7d1911aff907" title="The standard deviation used for Beacon ranges likelihood (default=0.08m).">rangeStd</a>;
<a name="l00172"></a>00172
<a name="l00173"></a>00173 } likelihoodOptions;
<a name="l00174"></a>00174 <span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** This struct contains data for choosing the method by which new beacons are inserted in the map.</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <span class="keyword">struct </span><a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html" title="This struct contains data for choosing the method by which new beacons are inserted in the map...">TInsertionOptions</a> : <span class="keyword">public</span> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>
<a name="l00178"></a>00178 {
<a name="l00179"></a>00179 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment"> /** Initilization of default parameters</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a>00182 <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html" title="This struct contains data for choosing the method by which new beacons are inserted in the map...">TInsertionOptions</a>();
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a>00186 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00187"></a>00187 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00188"></a>00188 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00191"></a>00191 <span class="comment"> */</span>
<a name="l00192"></a>00192 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00193"></a>00193 <span class="comment"></span>
<a name="l00194"></a>00194 <span class="comment"> /** Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).</span>
<a name="l00195"></a>00195 <span class="comment"> * \sa MC_performResampling</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a6df3fadabd06aae210fd9b1d8a9f7482">00197</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a6df3fadabd06aae210fd9b1d8a9f7482" title="Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussian...">insertAsMonteCarlo</a>;
<a name="l00198"></a>00198 <span class="comment"></span>
<a name="l00199"></a>00199 <span class="comment"> /** Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.</span>
<a name="l00200"></a>00200 <span class="comment"> */</span>
<a name="l00201"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3a48b30e23ee394f19b641350e6cacf3">00201</a> <span class="keywordtype">float</span> maxElevation_deg,<a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3a48b30e23ee394f19b641350e6cacf3">minElevation_deg</a>;
<a name="l00202"></a>00202 <span class="comment"></span>
<a name="l00203"></a>00203 <span class="comment"> /** Number of particles per meter of range, i.e. per meter of the "radius of the ring".</span>
<a name="l00204"></a>00204 <span class="comment"> */</span>
<a name="l00205"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3ca5fea29c2e22daaeed2b5a89242d47">00205</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3ca5fea29c2e22daaeed2b5a89242d47" title="Number of particles per meter of range, i.e.">MC_numSamplesPerMeter</a>;
<a name="l00206"></a>00206 <span class="comment"></span>
<a name="l00207"></a>00207 <span class="comment"> /** The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a15cb5372ee52b4a534f1d8aca9c77019">00209</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a15cb5372ee52b4a534f1d8aca9c77019" title="The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (def...">MC_maxStdToGauss</a>;
<a name="l00210"></a>00210 <span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment"> /** Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).</span>
<a name="l00212"></a>00212 <span class="comment"> */</span>
<a name="l00213"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#afa595b083cd88b6fa6143c40d231d37b">00213</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#afa595b083cd88b6fa6143c40d231d37b" title="Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing ...">MC_thresholdNegligible</a>;
<a name="l00214"></a>00214 <span class="comment"></span>
<a name="l00215"></a>00215 <span class="comment"> /** If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.</span>
<a name="l00216"></a>00216 <span class="comment"> */</span>
<a name="l00217"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#ae4fc3bf89d47bf75015377d47d18f6a3">00217</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#ae4fc3bf89d47bf75015377d47d18f6a3" title="If set to false (default), the samples will be generated the first time a beacon is observed...">MC_performResampling</a>;
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /** The std.dev. of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.</span>
<a name="l00220"></a>00220 <span class="comment"> */</span>
<a name="l00221"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#aa87c256ea28c25cc629395aa2549e87a">00221</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#aa87c256ea28c25cc629395aa2549e87a" title="The std.dev.">MC_afterResamplingNoise</a>;
<a name="l00222"></a>00222 <span class="comment"></span>
<a name="l00223"></a>00223 <span class="comment"> /** Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).</span>
<a name="l00224"></a>00224 <span class="comment"> */</span>
<a name="l00225"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a26bf0db41d250e0bd06e44cc83afd6a5">00225</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a26bf0db41d250e0bd06e44cc83afd6a5" title="Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mod...">SOG_thresholdNegligible</a>;
<a name="l00226"></a>00226 <span class="comment"></span>
<a name="l00227"></a>00227 <span class="comment"> /** A parameter for initializing 2D/3D SOGs</span>
<a name="l00228"></a>00228 <span class="comment"> */</span>
<a name="l00229"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a025b618c597c30b2f2ccccd9adfbcdb2">00229</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a025b618c597c30b2f2ccccd9adfbcdb2" title="A parameter for initializing 2D/3D SOGs.">SOG_maxDistBetweenGaussians</a>;
<a name="l00230"></a>00230 <span class="comment"></span>
<a name="l00231"></a>00231 <span class="comment"> /** Constant used to compute the std. dev. int the tangent direction when creating the Gaussians.</span>
<a name="l00232"></a>00232 <span class="comment"> */</span>
<a name="l00233"></a><a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a2481fb8b8f4f2862eaafb1d727ecb31c">00233</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a2481fb8b8f4f2862eaafb1d727ecb31c" title="Constant used to compute the std.">SOG_separationConstant</a>;
<a name="l00234"></a>00234
<a name="l00235"></a>00235 } insertionOptions;
<a name="l00236"></a>00236 <span class="comment"></span>
<a name="l00237"></a>00237 <span class="comment"> /** Save to a MATLAB script which displays 3D error ellipses for the map.</span>
<a name="l00238"></a>00238 <span class="comment"> * \param file The name of the file to save the script to.</span>
<a name="l00239"></a>00239 <span class="comment"> * \param style The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities)</span>
<a name="l00240"></a>00240 <span class="comment"> * \param stdCount The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)</span>
<a name="l00241"></a>00241 <span class="comment"> *</span>
<a name="l00242"></a>00242 <span class="comment"> * \return Returns false if any error occured, true elsewere.</span>
<a name="l00243"></a>00243 <span class="comment"> */</span>
<a name="l00244"></a>00244 <span class="keywordtype">bool</span> saveToMATLABScript3D(
<a name="l00245"></a>00245 <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> file,
<a name="l00246"></a>00246 <span class="keyword">const</span> <span class="keywordtype">char</span> *style=<span class="stringliteral">"b"</span>,
<a name="l00247"></a>00247 <span class="keywordtype">float</span> confInterval = 0.95f ) <span class="keyword">const</span>;
<a name="l00248"></a>00248
<a name="l00249"></a>00249 <span class="comment"></span>
<a name="l00250"></a>00250 <span class="comment"> /** Returns the stored landmarks count.</span>
<a name="l00251"></a>00251 <span class="comment"> */</span>
<a name="l00252"></a>00252 <span class="keywordtype">size_t</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>() <span class="keyword">const</span>;
<a name="l00253"></a>00253
<a name="l00254"></a>00254 <span class="comment"></span>
<a name="l00255"></a>00255 <span class="comment"> /** Computes the (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map.</span>
<a name="l00256"></a>00256 <span class="comment"> *</span>
<a name="l00257"></a>00257 <span class="comment"> * In the current implementation, this method behaves in a different way according to the nature of</span>
<a name="l00258"></a>00258 <span class="comment"> * the observation's class:</span>
<a name="l00259"></a>00259 <span class="comment"> * - "mrpt::slam::CObservation2DRangeScan": This calls "computeLikelihood_RSLC_2007".</span>
<a name="l00260"></a>00260 <span class="comment"> * - "mrpt::slam::CObservationStereoImages": This calls "computeLikelihood_SIFT_LandmarkMap".</span>
<a name="l00261"></a>00261 <span class="comment"> *</span>
<a name="l00262"></a>00262 <span class="comment"> * \param takenFrom The robot's pose the observation is supposed to be taken from.</span>
<a name="l00263"></a>00263 <span class="comment"> * \param obs The observation.</span>
<a name="l00264"></a>00264 <span class="comment"> * \return This method returns a likelihood value > 0.</span>
<a name="l00265"></a>00265 <span class="comment"> *</span>
<a name="l00266"></a>00266 <span class="comment"> * \sa Used in particle filter algorithms, see: CMultiMetricMapPDF::update</span>
<a name="l00267"></a>00267 <span class="comment"> */</span>
<a name="l00268"></a>00268 <span class="keywordtype">double</span> computeObservationLikelihood( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> *obs, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &takenFrom );
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment"> /** Computes the matchings between this and another 2D points map.</span>
<a name="l00271"></a>00271 <span class="comment"> This includes finding:</span>
<a name="l00272"></a>00272 <span class="comment"> - The set of points pairs in each map</span>
<a name="l00273"></a>00273 <span class="comment"> - The mean squared distance between corresponding pairs.</span>
<a name="l00274"></a>00274 <span class="comment"> This method is the most time critical one into the ICP algorithm.</span>
<a name="l00275"></a>00275 <span class="comment"></span>
<a name="l00276"></a>00276 <span class="comment"> * \param otherMap [IN] The other map to compute the matching with.</span>
<a name="l00277"></a>00277 <span class="comment"> * \param otherMapPose [IN] The pose of the other map as seen from "this".</span>
<a name="l00278"></a>00278 <span class="comment"> * \param maxDistForCorrespondence [IN] Maximum 2D linear distance between two points to be matched.</span>
<a name="l00279"></a>00279 <span class="comment"> * \param maxAngularDistForCorrespondence [IN] In radians: The aim is to allow larger distances to more distant correspondences.</span>
<a name="l00280"></a>00280 <span class="comment"> * \param angularDistPivotPoint [IN] The point used to calculate distances from in both maps.</span>
<a name="l00281"></a>00281 <span class="comment"> * \param correspondences [OUT] The detected matchings pairs.</span>
<a name="l00282"></a>00282 <span class="comment"> * \param correspondencesRatio [OUT] The ratio [0,1] of points in otherMap with at least one correspondence.</span>
<a name="l00283"></a>00283 <span class="comment"> * \param sumSqrDist [OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default.</span>
<a name="l00284"></a>00284 <span class="comment"> * \param covariance [OUT] The resulting matching covariance 3x3 matrix, or NULL if undesired.</span>
<a name="l00285"></a>00285 <span class="comment"> * \param onlyKeepTheClosest [IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.</span>
<a name="l00286"></a>00286 <span class="comment"> *</span>
<a name="l00287"></a>00287 <span class="comment"> * \sa compute3DMatchingRatio</span>
<a name="l00288"></a>00288 <span class="comment"> */</span>
<a name="l00289"></a>00289 <span class="keywordtype">void</span> computeMatchingWith2D(
<a name="l00290"></a>00290 <span class="keyword">const</span> CMetricMap *otherMap,
<a name="l00291"></a>00291 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &otherMapPose,
<a name="l00292"></a>00292 <span class="keywordtype">float</span> maxDistForCorrespondence,
<a name="l00293"></a>00293 <span class="keywordtype">float</span> maxAngularDistForCorrespondence,
<a name="l00294"></a>00294 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &angularDistPivotPoint,
<a name="l00295"></a>00295 <a class="code" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html" title="A list of TMatchingPair.">TMatchingPairList</a> &correspondences,
<a name="l00296"></a>00296 <span class="keywordtype">float</span> &correspondencesRatio,
<a name="l00297"></a>00297 <span class="keywordtype">float</span> *sumSqrDist = NULL,
<a name="l00298"></a>00298 <span class="keywordtype">bool</span> onlyKeepTheClosest = <span class="keyword">false</span>,
<a name="l00299"></a>00299 <span class="keywordtype">bool</span> onlyUniqueRobust = <span class="keyword">false</span>,
<a name="l00300"></a>00300 <span class="keyword">const</span> <span class="keywordtype">size_t</span> decimation_other_map_points = 1,
<a name="l00301"></a>00301 <span class="keyword">const</span> <span class="keywordtype">size_t</span> offset_other_map_points = 0 ) <span class="keyword">const</span>;
<a name="l00302"></a>00302 <span class="comment"></span>
<a name="l00303"></a>00303 <span class="comment"> /** Perform a search for correspondences between "this" and another lansmarks map:</span>
<a name="l00304"></a>00304 <span class="comment"> * Firsly, the landmarks' descriptor is used to find correspondences, then inconsistent ones removed by</span>
<a name="l00305"></a>00305 <span class="comment"> * looking at their 3D poses.</span>
<a name="l00306"></a>00306 <span class="comment"> * \param otherMap [IN] The other map.</span>
<a name="l00307"></a>00307 <span class="comment"> * \param correspondences [OUT] The matched pairs between maps.</span>
<a name="l00308"></a>00308 <span class="comment"> * \param correspondencesRatio [OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap</span>
<a name="l00309"></a>00309 <span class="comment"> * \param otherCorrespondences [OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence.</span>
<a name="l00310"></a>00310 <span class="comment"> */</span>
<a name="l00311"></a>00311 <span class="keywordtype">void</span> computeMatchingWith3DLandmarks(
<a name="l00312"></a>00312 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">mrpt::slam::CBeaconMap</a> *otherMap,
<a name="l00313"></a>00313 <a class="code" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html" title="A list of TMatchingPair.">TMatchingPairList</a> &correspondences,
<a name="l00314"></a>00314 <span class="keywordtype">float</span> &correspondencesRatio,
<a name="l00315"></a>00315 <a class="code" href="classstd_1_1vector.html">std::vector<bool></a> &otherCorrespondences) <span class="keyword">const</span>;
<a name="l00316"></a>00316 <span class="comment"></span>
<a name="l00317"></a>00317 <span class="comment"> /** Changes the reference system of the map to a given 3D pose.</span>
<a name="l00318"></a>00318 <span class="comment"> */</span>
<a name="l00319"></a>00319 <span class="keywordtype">void</span> changeCoordinatesReference( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newOrg );
<a name="l00320"></a>00320 <span class="comment"></span>
<a name="l00321"></a>00321 <span class="comment"> /** Changes the reference system of the map "otherMap" and save the result in "this" map.</span>
<a name="l00322"></a>00322 <span class="comment"> */</span>
<a name="l00323"></a>00323 <span class="keywordtype">void</span> changeCoordinatesReference( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newOrg, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">mrpt::slam::CBeaconMap</a> *otherMap );
<a name="l00324"></a>00324
<a name="l00325"></a>00325 <span class="comment"></span>
<a name="l00326"></a>00326 <span class="comment"> /** Returns true if the map is empty/no observation has been inserted.</span>
<a name="l00327"></a>00327 <span class="comment"> */</span>
<a name="l00328"></a>00328 <span class="keywordtype">bool</span> isEmpty() <span class="keyword">const</span>;
<a name="l00329"></a>00329 <span class="comment"></span>
<a name="l00330"></a>00330 <span class="comment"> /** Simulates a reading toward each of the beacons in the landmarks map, if any.</span>
<a name="l00331"></a>00331 <span class="comment"> * \param in_robotPose This robot pose is used to simulate the ranges to each beacon.</span>
<a name="l00332"></a>00332 <span class="comment"> * \param in_sensorLocationOnRobot The 3D position of the sensor on the robot</span>
<a name="l00333"></a>00333 <span class="comment"> * \param out_Observations The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function.</span>
<a name="l00334"></a>00334 <span class="comment"> * An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range.</span>
<a name="l00335"></a>00335 <span class="comment"> */</span>
<a name="l00336"></a>00336 <span class="keywordtype">void</span> simulateBeaconReadings(
<a name="l00337"></a>00337 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &in_robotPose,
<a name="l00338"></a>00338 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> &in_sensorLocationOnRobot,
<a name="l00339"></a>00339 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html" title="Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...">CObservationBeaconRanges</a> &out_Observations ) <span class="keyword">const</span>;
<a name="l00340"></a>00340 <span class="comment"></span>
<a name="l00341"></a>00341 <span class="comment"> /** 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).</span>
<a name="l00342"></a>00342 <span class="comment"> * In the case of this class, these files are generated:</span>
<a name="l00343"></a>00343 <span class="comment"> * - "filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.</span>
<a name="l00344"></a>00344 <span class="comment"> * - "filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D.</span>
<a name="l00345"></a>00345 <span class="comment"> * - "filNamePrefix"+"_covs.m": A textual representation (see saveToTextFile)</span>
<a name="l00346"></a>00346 <span class="comment"> */</span>
<a name="l00347"></a>00347 <span class="keywordtype">void</span> saveMetricMapRepresentationToFile(
<a name="l00348"></a>00348 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filNamePrefix ) <span class="keyword">const</span>;
<a name="l00349"></a>00349 <span class="comment"></span>
<a name="l00350"></a>00350 <span class="comment"> /** Save a text file with a row per beacon, containing this 11 elements:</span>
<a name="l00351"></a>00351 <span class="comment"> * - X Y Z: Mean values</span>
<a name="l00352"></a>00352 <span class="comment"> * - VX VY VZ: Variances of each dimension (C11, C22, C33)</span>
<a name="l00353"></a>00353 <span class="comment"> * - DET2D DET3D: Determinant of the 2D and 3D covariance matrixes.</span>
<a name="l00354"></a>00354 <span class="comment"> * - C12, C13, C23: Cross covariances</span>
<a name="l00355"></a>00355 <span class="comment"> */</span>
<a name="l00356"></a>00356 <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#abea6659e38ab7a50b625ea1a4af3ec72" title="Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...">saveToTextFile</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fil) <span class="keyword">const</span>;
<a name="l00357"></a>00357 <span class="comment"></span>
<a name="l00358"></a>00358 <span class="comment"> /** Returns a 3D object representing the map.</span>
<a name="l00359"></a>00359 <span class="comment"> */</span>
<a name="l00360"></a>00360 <span class="keywordtype">void</span> getAs3DObject ( <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj ) <span class="keyword">const</span>;
<a name="l00361"></a>00361 <span class="comment"></span>
<a name="l00362"></a>00362 <span class="comment"> /** Returns a pointer to the beacon with the given ID, or NULL if it does not exist.</span>
<a name="l00363"></a>00363 <span class="comment"> */</span>
<a name="l00364"></a>00364 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a> * getBeaconByID( <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7" title="The type for the IDs of landmarks.">CBeacon::TBeaconID</a> <span class="keywordtype">id</span> ) <span class="keyword">const</span>;
<a name="l00365"></a>00365 <span class="comment"></span>
<a name="l00366"></a>00366 <span class="comment"> /** Returns a pointer to the beacon with the given ID, or NULL if it does not exist.</span>
<a name="l00367"></a>00367 <span class="comment"> */</span>
<a name="l00368"></a>00368 <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a> * getBeaconByID( <a class="code" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7" title="The type for the IDs of landmarks.">CBeacon::TBeaconID</a> <span class="keywordtype">id</span> );
<a name="l00369"></a>00369
<a name="l00370"></a>00370 }; <span class="comment">// End of class def.</span>
<a name="l00371"></a>00371
<a name="l00372"></a>00372
<a name="l00373"></a>00373 } <span class="comment">// End of namespace</span>
<a name="l00374"></a>00374 } <span class="comment">// End of namespace</span>
<a name="l00375"></a>00375
<a name="l00376"></a>00376 <span class="preprocessor">#endif</span>
</pre></div></div>
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