<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CWirelessPowerGridMap2D.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CWirelessPowerGridMap2D.h</div> </div> </div> <div class="contents"> <a href="_c_wireless_power_grid_map2_d_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 <a name="l00029"></a>00029 <span class="preprocessor">#ifndef CWirelessPowerGridMap2D_H</span> <a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CWirelessPowerGridMap2D_H</span> <a name="l00031"></a>00031 <span class="preprocessor"></span> <a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_random_field_grid_map2_d_8h.html">mrpt/slam/CRandomFieldGridMap2D.h</a>></span> <a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_wireless_power_8h.html">mrpt/slam/CObservationWirelessPower.h</a>></span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <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="l00036"></a>00036 <a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt <a name="l00038"></a>00038 { <a name="l00039"></a>00039 <span class="keyword">namespace </span>slam <a name="l00040"></a>00040 { <a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt::utils; <a name="l00042"></a>00042 <span class="keyword">using namespace </span>mrpt::poses; <a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::math; <a name="l00044"></a>00044 <a name="l00045"></a><a class="code" href="structmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d_ptr.html#aa0a79203d0f485a8de25924dc968b523">00045</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_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a> , <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a>, <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> ) <a name="l00046"></a>00046 <a name="l00047"></a>00047 <a name="l00048"></a>00048 <span class="comment">/** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.</span> <a name="l00049"></a>00049 <span class="comment"> *</span> <a name="l00050"></a>00050 <span class="comment"> * There are a number of methods available to build the wifi grid-map, depending on the value of</span> <a name="l00051"></a>00051 <span class="comment"> * "TMapRepresentation maptype" passed in the constructor.</span> <a name="l00052"></a>00052 <span class="comment"> *</span> <a name="l00053"></a>00053 <span class="comment"> * The following papers describe the mapping alternatives implemented here:</span> <a name="l00054"></a>00054 <span class="comment"> * - mrKernelDM: A kernel-based method:</span> <a name="l00055"></a>00055 <span class="comment"> * "Building gas concentration gridmaps with a mobile robot", Lilienthal, A. and Duckett, T., Robotics and Autonomous Systems, v.48, 2004.</span> <a name="l00056"></a>00056 <span class="comment"> *</span> <a name="l00057"></a>00057 <span class="comment"> * - mrKernelDMV: A kernel-based method:</span> <a name="l00058"></a>00058 <span class="comment"> * "A Statistical Approach to Gas Distribution Modelling with Mobile Robots--The Kernel DM+ V Algorithm"</span> <a name="l00059"></a>00059 <span class="comment"> * , Lilienthal, A.J. and Reggente, M. and Trincavelli, M. and Blanco, J.L. and Gonzalez, J., IROS 2009.</span> <a name="l00060"></a>00060 <span class="comment"> *</span> <a name="l00061"></a>00061 <span class="comment"> * \sa mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap</span> <a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_maps_grp</span> <a name="l00063"></a>00063 <span class="comment"> */</span> <a name="l00064"></a>00064 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_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a> <a name="l00065"></a>00065 { <a name="l00066"></a>00066 <span class="comment">// This must be added to any CSerializable derived class:</span> <a name="l00067"></a><a class="code" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#adab3882c7c4d36a3d92481d6d8fe3a32">00067</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_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a> ) <a name="l00068"></a>00068 public:<span class="comment"></span> <a name="l00069"></a>00069 <span class="comment"> /** Constructor</span> <a name="l00070"></a>00070 <span class="comment"> */</span> <a name="l00071"></a>00071 <a class="code" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a>( <a name="l00072"></a>00072 <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a1bdb0ec64ac5ebc8f0b803b66151703a" title="The type of map representation to be used.">TMapRepresentation</a> mapType = mrAchim, <a name="l00073"></a>00073 <span class="keywordtype">float</span> x_min = -2, <a name="l00074"></a>00074 <span class="keywordtype">float</span> x_max = 2, <a name="l00075"></a>00075 <span class="keywordtype">float</span> y_min = -2, <a name="l00076"></a>00076 <span class="keywordtype">float</span> y_max = 2, <a name="l00077"></a>00077 <span class="keywordtype">float</span> resolution = 0.1 <a name="l00078"></a>00078 ); <a name="l00079"></a>00079 <span class="comment"></span> <a name="l00080"></a>00080 <span class="comment"> /** Destructor */</span> <a name="l00081"></a>00081 virtual ~<a class="code" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a>(); <a name="l00082"></a>00082 <a name="l00083"></a>00083 <span class="comment"></span> <a name="l00084"></a>00084 <span class="comment"> /** Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.</span> <a name="l00085"></a>00085 <span class="comment"> *</span> <a name="l00086"></a>00086 <span class="comment"> * \param takenFrom The robot's pose the observation is supposed to be taken from.</span> <a name="l00087"></a>00087 <span class="comment"> * \param obs The observation.</span> <a name="l00088"></a>00088 <span class="comment"> * \return This method returns a likelihood in the range [0,1].</span> <a name="l00089"></a>00089 <span class="comment"> *</span> <a name="l00090"></a>00090 <span class="comment"> * \sa Used in particle filter algorithms, see: CMultiMetricMapPDF::update</span> <a name="l00091"></a>00091 <span class="comment"> */</span> <a name="l00092"></a>00092 <span class="keywordtype">double</span> computeObservationLikelihood( 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> &takenFrom ); <a name="l00093"></a>00093 <a name="l00094"></a>00094 <span class="comment"></span> <a name="l00095"></a>00095 <span class="comment"> /** Parameters related with inserting observations into the map:</span> <a name="l00096"></a>00096 <span class="comment"> */</span> <a name="l00097"></a>00097 struct <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_wireless_power_grid_map2_d_1_1_t_insertion_options.html" title="Parameters related with inserting observations into the map:">TInsertionOptions</a> : <a name="l00098"></a>00098 public 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="l00099"></a>00099 public <a class="code" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html" title="Parameters common to any derived class.">TInsertionOptionsCommon</a> <a name="l00100"></a>00100 { <a name="l00101"></a>00101 <a class="code" href="structmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d_1_1_t_insertion_options.html" title="Parameters related with inserting observations into the map:">TInsertionOptions</a>(); <span class="comment">//!< Default values loader</span> <a name="l00102"></a>00102 <span class="comment"></span><span class="comment"></span> <a name="l00103"></a>00103 <span class="comment"> /** See utils::CLoadableOptions */</span> <a name="l00104"></a>00104 <span class="keywordtype">void</span> loadFromConfigFile( <a name="l00105"></a>00105 <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="l00106"></a>00106 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section); <a name="l00107"></a>00107 <a name="l00108"></a>00108 <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>; <span class="comment">//!< See utils::CLoadableOptions</span> <a name="l00109"></a>00109 <span class="comment"></span> <a name="l00110"></a>00110 } insertionOptions; <a name="l00111"></a>00111 <span class="comment"></span> <a name="l00112"></a>00112 <span class="comment"> /** Returns an image just as described in \a saveAsBitmapFile */</span> <a name="l00113"></a>00113 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAsBitmapFile(<a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &out_img) <span class="keyword">const</span>; <a name="l00114"></a>00114 <span class="comment"></span> <a name="l00115"></a>00115 <span class="comment"> /** The implementation in this class just calls all the corresponding method of the contained metric maps.</span> <a name="l00116"></a>00116 <span class="comment"> */</span> <a name="l00117"></a>00117 <span class="keywordtype">void</span> saveMetricMapRepresentationToFile( <a name="l00118"></a>00118 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filNamePrefix <a name="l00119"></a>00119 ) <span class="keyword">const</span>; <a name="l00120"></a>00120 <span class="comment"></span> <a name="l00121"></a>00121 <span class="comment"> /** Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.</span> <a name="l00122"></a>00122 <span class="comment"> * This method can only be called in a KF map model.</span> <a name="l00123"></a>00123 <span class="comment"> */</span> <a name="l00124"></a>00124 <span class="keywordtype">void</span> saveAsMatlab3DGraph(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName) <span class="keyword">const</span>; <a name="l00125"></a>00125 <span class="comment"></span> <a name="l00126"></a>00126 <span class="comment"> /** Returns a 3D object representing the map.</span> <a name="l00127"></a>00127 <span class="comment"> */</span> <a name="l00128"></a>00128 <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="l00129"></a>00129 <a name="l00130"></a>00130 <span class="keyword">protected</span>:<span class="comment"></span> <a name="l00131"></a>00131 <span class="comment"> /** Get the part of the options common to all CRandomFieldGridMap2D classes */</span> <a name="l00132"></a><a class="code" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#aeb6f6a74b4a96edfc8b73bdbf69518fa">00132</a> <span class="keyword">virtual</span> CRandomFieldGridMap2D<a class="code" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html" title="Parameters common to any derived class.">::TInsertionOptionsCommon</a> * <a class="code" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#aeb6f6a74b4a96edfc8b73bdbf69518fa" title="Get the part of the options common to all CRandomFieldGridMap2D classes.">getCommonInsertOptions</a>() { <a name="l00133"></a>00133 <span class="keywordflow">return</span> &insertionOptions; <a name="l00134"></a>00134 } <a name="l00135"></a>00135 <span class="comment"></span> <a name="l00136"></a>00136 <span class="comment"> /** Erase all the contents of the map</span> <a name="l00137"></a>00137 <span class="comment"> */</span> <a name="l00138"></a>00138 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internal_clear(); <a name="l00139"></a>00139 <span class="comment"></span> <a name="l00140"></a>00140 <span class="comment"> /** Insert the observation information into this map. This method must be implemented</span> <a name="l00141"></a>00141 <span class="comment"> * in derived classes.</span> <a name="l00142"></a>00142 <span class="comment"> * \param obs The observation</span> <a name="l00143"></a>00143 <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="l00144"></a>00144 <span class="comment"> *</span> <a name="l00145"></a>00145 <span class="comment"> * \sa CObservation::insertObservationInto</span> <a name="l00146"></a>00146 <span class="comment"> */</span> <a name="l00147"></a>00147 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> internal_insertObservation( <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> *robotPose = NULL ); <a name="l00148"></a>00148 <a name="l00149"></a>00149 <a name="l00150"></a>00150 }; <a name="l00151"></a>00151 <a name="l00152"></a>00152 <a name="l00153"></a>00153 } <span class="comment">// End of namespace</span> <a name="l00154"></a>00154 <a name="l00155"></a>00155 } <span class="comment">// End of namespace</span> <a name="l00156"></a>00156 <a name="l00157"></a>00157 <span class="preprocessor">#endif</span> </pre></div></div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>