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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html">CHeightGridMap2D</a> </li>
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<div class="title">mrpt::slam::CHeightGridMap2D Class Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CHeightGridMap2D" --><!-- doxytag: inherits="mrpt::slam::CMetricMap,CDynamicGrid< THeightGridmapCell >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A mesh representation of a surface which keeps the estimated height for each (x,y) location. </p>
<p>Important implemented features are the insertion of 2D laser scans (from arbitrary 6D poses) and the exportation as 3D scenes.</p>
<p>Each cell contains the up-to-date average height from measured falling in that cell. Algorithms that can be used:</p>
<ul>
<li>mrSimpleAverage: Each cell only stores the current average value. </li>
</ul>
</div>
<p><code>#include <<a class="el" href="_c_height_grid_map2_d_8h_source.html">mrpt/slam/CHeightGridMap2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CHeightGridMap2D:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_height_grid_map2_d__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_height_grid_map2_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_height_grid_map2_d_inherit__map" id="mrpt_1_1slam_1_1_c_height_grid_map2_d_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes." alt="" coords="159,173,321,200"/><area shape="rect" id="node4" 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..." alt="" coords="4,83,168,109"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="19,5,153,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_observable.html" title="Inherit from this class for those objects capable of being observed by a CObserver class..." alt="" coords="194,83,357,109"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="mrpt::utils::CDynamicGrid\< THeightGridmapCell \>" alt="" coords="346,173,661,200"/><area shape="rect" id="node12" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html" title="A 2D grid of dynamic size which stores any kind of data at each cell." alt="" coords="417,83,591,109"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_height_grid_map2_d-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_1_1_t_insertion_options.html">TInsertionOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters related with inserting observations into the map. <a href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_1_1_t_insertion_options.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> { <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370a6f11282999440420dddd513d8390a4b7">mrSimpleAverage</a> = 0
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of map representation to be used. <a href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></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_height_grid_map2_d.html#a77e7ba89a13dd3079dfa46fef82b6b9b">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calls the base <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b" title="Erase all the contents of the map.">CMetricMap::clear</a> Declared here to avoid ambiguity between the two <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a77e7ba89a13dd3079dfa46fef82b6b9b" title="Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both bas...">clear()</a> in both base classes. <a href="#a77e7ba89a13dd3079dfa46fef82b6b9b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aae412802425097d2086d67fd04b263b0">cell2float</a> (const <a class="el" href="structmrpt_1_1slam_1_1_t_height_gridmap_cell.html">THeightGridmapCell</a> &c) const </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_height_grid_map2_d.html#a232b61acd9b094b2fd9dd329089566ce">CHeightGridMap2D</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> mapType=mrSimpleAverage, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a232b61acd9b094b2fd9dd329089566ce"></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_height_grid_map2_d.html#aa84819c47e00685f6ce12a1876150edd">isEmpty</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the map is empty/no observation has been inserted. <a href="#aa84819c47e00685f6ce12a1876150edd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a88f9fa6f7798f492e6a77ee82e5fb2d0">computeObservationLikelihood</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> &takenFrom)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map. <a href="#a88f9fa6f7798f492e6a77ee82e5fb2d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#abfdd102e0354f515c584e65aa3b6845b">compute3DMatchingRatio</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *otherMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. <a href="#abfdd102e0354f515c584e65aa3b6845b"></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_height_grid_map2_d.html#a689d86d30757a8455d51820001ac4f12">saveMetricMapRepresentationToFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filNamePrefix) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The implementation in this class just calls all the corresponding method of the contained metric maps. <a href="#a689d86d30757a8455d51820001ac4f12"></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_height_grid_map2_d.html#a2c1475d451da4cc42fadd71218f340e3">getAs3DObject</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D object representing the map: by default, it will be a <a class="el" href="classmrpt_1_1opengl_1_1_c_mesh.html" title="A planar (XY) grid where each cell has an associated height and, optionally, a texture map...">mrpt::opengl::CMesh</a> object, unless it is specified otherwise in mrpt:: <a href="#a2c1475d451da4cc42fadd71218f340e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#adca071ad468274c58dabf5cefc64c2de">getMapType</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the type of the gas distribution map, according to parameters passed on construction. <a href="#adca071ad468274c58dabf5cefc64c2de"></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_height_grid_map2_d.html#aad2638751eff184c44fd1282f1fa8c48">intersectLine3D</a> (const <a class="el" href="structmrpt_1_1math_1_1_t_line3_d.html">TLine3D</a> &r1, <a class="el" href="structmrpt_1_1math_1_1_t_object3_d.html">TObject3D</a> &obj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell). <a href="#aad2638751eff184c44fd1282f1fa8c48"></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_height_grid_map2_d.html#a6479d18cad0fb269f327f6ed605e9d5c">getMinMaxHeight</a> (float &z_min, float &z_max) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the minimum and maximum height in the grid. <a href="#a6479d18cad0fb269f327f6ed605e9d5c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a1bd164f88076e3756b7ff7d34c1b9968">countObservedCells</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the number of cells with at least one height data inserted. <a href="#a1bd164f88076e3756b7ff7d34c1b9968"></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_metric_map.html#a9fbc1945a342365600bf352ec89fc617">loadFromProbabilisticPosesAndObservations</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &Map)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load the map contents from a <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object, erasing all previous content of the map. <a href="#a9fbc1945a342365600bf352ec89fc617"></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_metric_map.html#aedf155237d3fe3d595994b9659a4e688">loadFromSimpleMap</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &Map)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load the map contents from a <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object, erasing all previous content of the map. <a href="#aedf155237d3fe3d595994b9659a4e688"></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_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782">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="#ad1d3f22228d6dbdb3c31c132713bf782"></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_metric_map.html#a7cb614f5ec634ec6f6a20b14163e5b07">insertObservationPtr</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</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">A wrapper for smart pointers, just calls the non-smart pointer version. <a href="#a7cb614f5ec634ec6f6a20b14163e5b07"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6adfc3df476a7edafaca40444d8dad04">computeObservationLikelihood</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_pose2_d.html">CPose2D</a> &takenFrom)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. <a href="#a6adfc3df476a7edafaca40444d8dad04"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a8936d61e45446a74633d00a7ce6b4603">canComputeObservationLikelihood</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> *obs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. <a href="#a8936d61e45446a74633d00a7ce6b4603"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a8184371fde28bc35a9ec461240b83b43">computeObservationsLikelihood</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &sf, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &takenFrom)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the sum of the log-likelihoods of each individual observation within a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a>. <a href="#a8184371fde28bc35a9ec461240b83b43"></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_metric_map.html#ab3b66046cae11313beba57052b852eca">canComputeObservationsLikelihood</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &sf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. <a href="#ab3b66046cae11313beba57052b852eca"></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_metric_map.html#aa684de52360d687fb0ee30790f430574">computeMatchingWith2D</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *otherMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &angularDistPivotPoint, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the matchings between this and another 2D points map. <a href="#aa684de52360d687fb0ee30790f430574"></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_metric_map.html#a7aafbdbb3f2cb17e14e1af9997c3fa48">computeMatchingWith3D</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> *otherMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &angularDistPivotPoint, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the matchings between this and another 3D points map - method used in 3D-ICP. <a href="#a7aafbdbb3f2cb17e14e1af9997c3fa48"></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_metric_map.html#aabd4d4be402cdd01bc8db467f214516a">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="#aabd4d4be402cdd01bc8db467f214516a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ae6235efcb6d5da8e9db1ad6ccfb8225c">squareDistanceToClosestCorrespondence</a> (const float &x0, const float &y0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. <a href="#ae6235efcb6d5da8e9db1ad6ccfb8225c"></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_metric_map.html#ae7b0688c0e2c0d75554e22b739649463">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="#ae7b0688c0e2c0d75554e22b739649463"></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_metric_map.html#ace4e7cc2a2f070d556c5074117a3aa2f">getAsSimplePointsMap</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></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_1utils_1_1_c_dynamic_grid.html#a926be9ff11d4f3a8f5553262b8fcacd9">setSize</a> (float x_min, float x_max, float y_min, float y_max, float resolution)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the size of the grid, ERASING all previous contents. <a href="#a926be9ff11d4f3a8f5553262b8fcacd9"></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_1utils_1_1_c_dynamic_grid.html#a1abcf1677e597799ad7572b604f32645">fill</a> (const T &value)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills all the cells with the same value. <a href="#a1abcf1677e597799ad7572b604f32645"></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_1utils_1_1_c_dynamic_grid.html#af43d36e226e0c62a03353504bc443556">resize</a> (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the size of the grid, maintaining previous contents. <a href="#af43d36e226e0c62a03353504bc443556"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a5277bca042c6ade6fd67d5c0a8a172f2">cellByPos</a> (float x, float y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. <a href="#a5277bca042c6ade6fd67d5c0a8a172f2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aebbd206e29754dbdbd3aa1ee37be6dab">cellByPos</a> (float x, float y) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. <a href="#aebbd206e29754dbdbd3aa1ee37be6dab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4781cecfa674b11cd29470a0555a0622">cellByIndex</a> (unsigned int cx, unsigned int cy)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. <a href="#a4781cecfa674b11cd29470a0555a0622"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a58d68888956305d5f86f56760922270b">cellByIndex</a> (unsigned int cx, unsigned int cy) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. <a href="#a58d68888956305d5f86f56760922270b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aeb24078d14768d08d00c1eb79c547ff3">getSizeX</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the horizontal size of grid map in cells count. <a href="#aeb24078d14768d08d00c1eb79c547ff3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4d300627ac8a06e1e277292c1b0a711b">getSizeY</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the vertical size of grid map in cells count. <a href="#a4d300627ac8a06e1e277292c1b0a711b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a4056c7f1f93e0ad84b1dc11429080312">getXMin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "x" coordinate of left side of grid map. <a href="#a4056c7f1f93e0ad84b1dc11429080312"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a5b3ddaf4838deb69402688a149fff54c">getXMax</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "x" coordinate of right side of grid map. <a href="#a5b3ddaf4838deb69402688a149fff54c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ae0c391b4f19aea09157f837d7fa15a3b">getYMin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "y" coordinate of top side of grid map. <a href="#ae0c391b4f19aea09157f837d7fa15a3b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa287d6b8076e7377bb37a4e4194cf9b5">getYMax</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the "y" coordinate of bottom side of grid map. <a href="#aa287d6b8076e7377bb37a4e4194cf9b5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#adc2166ca7c775540b668a2f3e81d0ba1">getResolution</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the resolution of the grid map. <a href="#adc2166ca7c775540b668a2f3e81d0ba1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ab1cff5e8d8397872ca5628ebeec4bb64">cell2float</a> (const T &c) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. <a href="#ab1cff5e8d8397872ca5628ebeec4bb64"></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_1utils_1_1_c_dynamic_grid.html#ad4a3fca506c6391411806f563de64047">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &fileName) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#af7c9b186fa24f231178f0b1ccd778ab1">x2idx</a> (float x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a coordinate values into cell indexes. <a href="#af7c9b186fa24f231178f0b1ccd778ab1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ae5f9732fa03110a3a1c801672d073251">x2idx</a> (float x, float x_min) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a coordinate value into a cell index, using a diferent "x_min" value. <a href="#ae5f9732fa03110a3a1c801672d073251"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#af5210a6b58e116584fb7ec391048573b">y2idx</a> (float y) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0460a7c8543c6e9f8de28cc5cadfa640">y2idx</a> (float y, float y_min) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a63dedb14db1e7363f45ab7c6aed9fdb8">xy2idx</a> (float x, float y) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a20356dae1065b5ed663b08bed36d6f11">idx2cxcy</a> (const int &idx, int &cx, int &cy) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. <a href="#a20356dae1065b5ed663b08bed36d6f11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a91a60d42d43bdc6d0174b492521fc5dc">idx2x</a> (int cx) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform a cell index into a coordinate value. <a href="#a91a60d42d43bdc6d0174b492521fc5dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aad004e29d48cd60015f6711f497483fa">idx2y</a> (int cy) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aad1ca5fdd667b49e78b64c7a6f19a76b">getAsMatrix</a> (MAT &m) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the entire grid as a matrix. <a href="#aad1ca5fdd667b49e78b64c7a6f19a76b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_1_1_t_insertion_options.html">mrpt::slam::CHeightGridMap2D::TInsertionOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aa2c9103a438055f2bee7c412df4a40ab">insertionOptions</a></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_metric_map.html#a2b50a8c61d853cc452b82d58756e9603">m_disableSaveAs3DObject</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When set to true (default=false), calling "getAs3DObject" will have no effects. <a href="#a2b50a8c61d853cc452b82d58756e9603"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></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_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></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_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</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_height_grid_map2_d.html#aef1a6c43ae483ee400548d76b8372d26">internal_clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all the contents of the map. <a href="#aef1a6c43ae483ee400548d76b8372d26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aa7f8226e60f648fa8ae27a22575dc7eb">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="#aa7f8226e60f648fa8ae27a22575dc7eb"></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_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" 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>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></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_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" 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> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></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_1utils_1_1_c_observable.html#a0c384e00c06199bc2ff37ff5ecb520c9">publishEvent</a> (const <a class="el" href="classmrpt_1_1utils_1_1mrpt_event.html">mrptEvent</a> &e) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Called when you want this object to emit an event to all the observers currently subscribed to this object. <a href="#a0c384e00c06199bc2ff37ff5ecb520c9"></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_1utils_1_1_c_observable.html#a1c1e8c7d0d184ccdaa7d5a0ee5184e1e">hasSubscribers</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Can be called by a derived class before preparing an event for publishing with <em>publishEvent</em> to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. <a href="#a1c1e8c7d0d184ccdaa7d5a0ee5184e1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa99e6b75ba0d986dd68df5342d9a16e3">m_map_castaway_const</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used only from logically const method that really need to modify the object. <a href="#aa99e6b75ba0d986dd68df5342d9a16e3"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a56539ab4a94bb1d09091b8af33bf0c61">m_mapType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The map representation type of this map. <a href="#a56539ab4a94bb1d09091b8af33bf0c61"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a44e35967e6dfa4a1d4ea877310c10ebb">m_map</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The cells. <a href="#a44e35967e6dfa4a1d4ea877310c10ebb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a9aa912e950257c3a3a50d29f89485aee">m_x_min</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ab7fa28466fd34353ec079990c2519103">m_x_max</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ac6e709aef8fdbb23f8c24ce61ae93a9e">m_y_min</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a706b0fdf9622d791d34132403f9f8451">m_y_max</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0d8fd68a29ddbdd0b4b635ef4a082357">m_resolution</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a3c6d52443dc50cdcd4aac442df119231">m_size_x</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa60d1d0c9e789f4201cda9974dfe36df">m_size_y</a></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_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#ac2e72e3c7999e48d18dfb0a32ba58489">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_height_grid_map2_d.html#a21fbd1544bfe4574fc32ca8c95f8b051">_init_CHeightGridMap2D</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_height_grid_map2_d.html#a035a85b8bc157c74aecff21d278dd3fe">classCHeightGridMap2D</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_height_grid_map2_d.html#ab247c618afdd81dcfb9905eeb55f0b9c">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_height_grid_map2_d.html#a555a6cb87decc915e5e953ecc408e2bd">_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_height_grid_map2_d.html#ac7a4c6394b7fddb87dc856144aef5318">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="#ac7a4c6394b7fddb87dc856144aef5318"></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_height_grid_map2_d.html#a197c2c0f0bd6b6b6cd82eb4b78b99e0d">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="#a197c2c0f0bd6b6b6cd82eb4b78b99e0d"></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_height_grid_map2_d.html#a2408255ff8c2f4756e2ed052f4702a10">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#ab29c710e6fc0c7764c8826447082eaf3">Create</a> ()</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">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_metric_map.html#a1cbb8630027acc3d6d227fa7d78c724f">classCMetricMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ac2e72e3c7999e48d18dfb0a32ba58489"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::SmartPtr" ref="ac2e72e3c7999e48d18dfb0a32ba58489" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#ac2e72e3c7999e48d18dfb0a32ba58489">mrpt::slam::CHeightGridMap2D::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_height_grid_map2_d_8h_source.html#l00098">98</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a2ceb1ed5a74eb5bb39da18434dcf9370"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::TMapRepresentation" ref="a2ceb1ed5a74eb5bb39da18434dcf9370" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">mrpt::slam::CHeightGridMap2D::TMapRepresentation</a></td>
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<p>The type of map representation to be used. </p>
<p>See <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html" title="A mesh representation of a surface which keeps the estimated height for each (x,y) location...">mrpt::slam::CHeightGridMap2D</a> for discussion. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a2ceb1ed5a74eb5bb39da18434dcf9370a6f11282999440420dddd513d8390a4b7"></a><!-- doxytag: member="mrSimpleAverage" ref="a2ceb1ed5a74eb5bb39da18434dcf9370a6f11282999440420dddd513d8390a4b7" args="" -->mrSimpleAverage</em> </td><td>
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<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00114">114</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a232b61acd9b094b2fd9dd329089566ce"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::CHeightGridMap2D" ref="a232b61acd9b094b2fd9dd329089566ce" args="(TMapRepresentation mapType=mrSimpleAverage, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)" -->
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<td class="memname">mrpt::slam::CHeightGridMap2D::CHeightGridMap2D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> </td>
<td class="paramname"><em>mapType</em> = <code>mrSimpleAverage</code>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">float </td>
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<td class="paramtype">float </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>y_max</em> = <code>2</code>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>resolution</em> = <code>0.1</code> </td>
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<td>)</td>
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<p>Constructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a555a6cb87decc915e5e953ecc408e2bd"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::_GetBaseClass" ref="a555a6cb87decc915e5e953ecc408e2bd" 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::CHeightGridMap2D::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afc58cfbfb2beb973ccade2e8921fad90">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="aabd4d4be402cdd01bc8db467f214516a"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::auxParticleFilterCleanUp" ref="aabd4d4be402cdd01bc8db467f214516a" args="()" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::auxParticleFilterCleanUp </td>
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<td><code> [inline, virtual, inherited]</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>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a20f3250d3a6b02030ab58cfa7e544529">mrpt::slam::CLandmarksMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a67dc96e1d740138fa14ca93537fdbdcd">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00326">326</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a8936d61e45446a74633d00a7ce6b4603"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::canComputeObservationLikelihood" ref="a8936d61e45446a74633d00a7ce6b4603" args="(const CObservation *obs)" -->
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<td class="memname">virtual bool mrpt::slam::CMetricMap::canComputeObservationLikelihood </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> * </td>
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<p>Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. </p>
<p>an occupancy grid map cannot with an image). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">obs</td><td>The observation. </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_metric_map.html#ad5cefa1e3e6efb0cff473a32c5ed6009" title="Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.">computeObservationLikelihood</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a614e663954432e3ebe8d0a6e7cc37e2b">mrpt::slam::COccupancyGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#add146361dd182988749657d9970a0abb">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00184">184</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<td class="memname">bool mrpt::slam::CMetricMap::canComputeObservationsLikelihood </td>
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<td><code> [inherited]</code></td>
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<p>Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. </p>
<p>an occupancy grid map cannot with an image). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">sf</td><td>The observations. </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_metric_map.html#a8936d61e45446a74633d00a7ce6b4603" title="Returns true if this map is able to compute a sensible likelihood function for this observation (i...">canComputeObservationLikelihood</a> </dd></dl>
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<a class="anchor" id="aae412802425097d2086d67fd04b263b0"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::cell2float" ref="aae412802425097d2086d67fd04b263b0" args="(const THeightGridmapCell &c) const " -->
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<td class="memname">float mrpt::slam::CHeightGridMap2D::cell2float </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_t_height_gridmap_cell.html">THeightGridmapCell</a> & </td>
<td class="paramname"><em>c</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00106">106</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
<p>References <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00069">mrpt::slam::THeightGridmapCell::h</a>.</p>
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<td class="memname">virtual float mrpt::utils::CDynamicGrid::cell2float </td>
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<p>The user must implement this in order to provide "saveToTextFile" a way to convert each cell into a numeric value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00281">281</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a4781cecfa674b11cd29470a0555a0622"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::cellByIndex" ref="a4781cecfa674b11cd29470a0555a0622" args="(unsigned int cx, unsigned int cy)" -->
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<td class="paramname"><em>cy</em> </td>
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<p>Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00236">236</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a58d68888956305d5f86f56760922270b"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::cellByIndex" ref="a58d68888956305d5f86f56760922270b" args="(unsigned int cx, unsigned int cy) const " -->
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<td class="memname">const T* mrpt::utils::CDynamicGrid::cellByIndex </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cx</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>cy</em> </td>
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<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its cell indexes, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00245">245</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a5277bca042c6ade6fd67d5c0a8a172f2"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::cellByPos" ref="a5277bca042c6ade6fd67d5c0a8a172f2" args="(float x, float y)" -->
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<td class="memname">T* mrpt::utils::CDynamicGrid::cellByPos </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>y</em> </td>
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<td>)</td>
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<p>Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00210">210</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aebbd206e29754dbdbd3aa1ee37be6dab"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::cellByPos" ref="aebbd206e29754dbdbd3aa1ee37be6dab" args="(float x, float y) const " -->
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<td class="memname">const T* mrpt::utils::CDynamicGrid::cellByPos </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em>, </td>
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<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em> </td>
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<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Returns a pointer to the contents of a cell given by its coordinates, or NULL if it is out of the map extensions. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00223">223</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a77e7ba89a13dd3079dfa46fef82b6b9b"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::clear" ref="a77e7ba89a13dd3079dfa46fef82b6b9b" args="()" -->
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<td class="memname">void mrpt::slam::CHeightGridMap2D::clear </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Calls the base <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b" title="Erase all the contents of the map.">CMetricMap::clear</a> Declared here to avoid ambiguity between the two <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a77e7ba89a13dd3079dfa46fef82b6b9b" title="Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both bas...">clear()</a> in both base classes. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b">mrpt::slam::CMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00104">104</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b">mrpt::slam::CMetricMap::clear()</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="abfdd102e0354f515c584e65aa3b6845b"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::compute3DMatchingRatio" ref="abfdd102e0354f515c584e65aa3b6845b" args="(const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const " -->
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<td class="memname">float mrpt::slam::CHeightGridMap2D::compute3DMatchingRatio </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>otherMap</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>otherMapPose</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>minDistForCorr</em> = <code>0.10f</code>, </td>
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<td class="paramname"><em>minMahaDistForCorr</em> = <code>2.0f</code> </td>
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<p>Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps. </p>
<p>This method always return 0 for grid maps. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>[IN] The other map to compute the matching with. </td></tr>
<tr><td class="paramname">otherMapPose</td><td>[IN] The 6D pose of the other map as seen from "this". </td></tr>
<tr><td class="paramname">minDistForCorr</td><td>[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence. </td></tr>
<tr><td class="paramname">minMahaDistForCorr</td><td>[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.</td></tr>
</table>
</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The matching ratio [0,1] </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aa684de52360d687fb0ee30790f430574" title="Computes the matchings between this and another 2D points map.">computeMatchingWith2D</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a8d59f040a850470da57f3294e346e69b">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="aa684de52360d687fb0ee30790f430574"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::computeMatchingWith2D" ref="aa684de52360d687fb0ee30790f430574" args="(const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const " -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::computeMatchingWith2D </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>otherMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>otherMapPose</em>, </td>
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<td class="paramname"><em>maxDistForCorrespondence</em>, </td>
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<td class="paramname"><em>maxAngularDistForCorrespondence</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>angularDistPivotPoint</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> & </td>
<td class="paramname"><em>correspondences</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>correspondencesRatio</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>sumSqrDist</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyKeepTheClosest</em> = <code>true</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code>, </td>
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<td class="paramname"><em>decimation_other_map_points</em> = <code>1</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>offset_other_map_points</em> = <code>0</code> </td>
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<p>Computes the matchings between this and another 2D points map. </p>
<p>This includes finding:</p>
<ul>
<li>The set of points pairs in each map</li>
<li>The mean squared distance between corresponding pairs. This method is the most time critical one into the ICP algorithm.</li>
</ul>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>[IN] The other map to compute the matching with. </td></tr>
<tr><td class="paramname">otherMapPose</td><td>[IN] The pose of the other map as seen from "this". </td></tr>
<tr><td class="paramname">maxDistForCorrespondence</td><td>[IN] Maximum 2D linear distance between two points to be matched. </td></tr>
<tr><td class="paramname">maxAngularDistForCorrespondence</td><td>[IN] In radians: The aim is to allow larger distances to more distant correspondences. </td></tr>
<tr><td class="paramname">angularDistPivotPoint</td><td>[IN] The point used to calculate distances from in both maps. </td></tr>
<tr><td class="paramname">correspondences</td><td>[OUT] The detected matchings pairs. </td></tr>
<tr><td class="paramname">correspondencesRatio</td><td>[OUT] The ratio [0,1] of points in otherMap with at least one correspondence. </td></tr>
<tr><td class="paramname">sumSqrDist</td><td>[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default. </td></tr>
<tr><td class="paramname">onlyKeepTheClosest</td><td>[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.</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_metric_map.html#a8d59f040a850470da57f3294e346e69b" title="Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.">compute3DMatchingRatio</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a6329f217aeb92bb0ad787102aff24bdc">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a396aa18fe072aec193268cdc4875daee">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a0a503ad4e15e0dbba66ba684eb250b43">mrpt::slam::CBeaconMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#ad234f67c0a6e6b2a155556dc1833ebfa">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00236">236</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a7aafbdbb3f2cb17e14e1af9997c3fa48"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::computeMatchingWith3D" ref="a7aafbdbb3f2cb17e14e1af9997c3fa48" args="(const CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const " -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::computeMatchingWith3D </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>otherMap</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>otherMapPose</em>, </td>
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<td class="paramname"><em>maxDistForCorrespondence</em>, </td>
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<td class="paramname"><em>maxAngularDistForCorrespondence</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>angularDistPivotPoint</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> & </td>
<td class="paramname"><em>correspondences</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>correspondencesRatio</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>sumSqrDist</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyKeepTheClosest</em> = <code>true</code>, </td>
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<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code>, </td>
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<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>decimation_other_map_points</em> = <code>1</code>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>offset_other_map_points</em> = <code>0</code> </td>
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<td>)</td>
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<p>Computes the matchings between this and another 3D points map - method used in 3D-ICP. </p>
<p>This method finds the set of point pairs in each map.</p>
<p>The method is the most time critical one into the ICP algorithm.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>[IN] The other map to compute the matching with. </td></tr>
<tr><td class="paramname">otherMapPose</td><td>[IN] The pose of the other map as seen from "this". </td></tr>
<tr><td class="paramname">maxDistForCorrespondence</td><td>[IN] Maximum 2D linear distance between two points to be matched. </td></tr>
<tr><td class="paramname">maxAngularDistForCorrespondence</td><td>[IN] In radians: The aim is to allow larger distances to more distant correspondences. </td></tr>
<tr><td class="paramname">angularDistPivotPoint</td><td>[IN] The point used to calculate distances from in both maps. </td></tr>
<tr><td class="paramname">correspondences</td><td>[OUT] The detected matchings pairs. </td></tr>
<tr><td class="paramname">correspondencesRatio</td><td>[OUT] The ratio [0,1] of points in otherMap with at least one correspondence. </td></tr>
<tr><td class="paramname">sumSqrDist</td><td>[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default. </td></tr>
<tr><td class="paramname">onlyKeepTheClosest</td><td>[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.</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_metric_map.html#a8d59f040a850470da57f3294e346e69b" title="Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.">compute3DMatchingRatio</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a64e5a209ec58036ff3c74866efd6ec72">mrpt::slam::CPointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00272">272</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a88f9fa6f7798f492e6a77ee82e5fb2d0"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::computeObservationLikelihood" ref="a88f9fa6f7798f492e6a77ee82e5fb2d0" args="(const CObservation *obs, const CPose3D &takenFrom)" -->
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<td class="memname">double mrpt::slam::CHeightGridMap2D::computeObservationLikelihood </td>
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<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="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>takenFrom</em> </td>
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<p>Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">takenFrom</td><td>The robot's pose the observation is supposed to be taken from. </td></tr>
<tr><td class="paramname">obs</td><td>The observation. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>This method returns a likelihood in the range [0,1].</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>Used in particle filter algorithms, see: CMultiMetricMapPDF::update </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad5cefa1e3e6efb0cff473a32c5ed6009">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="a6adfc3df476a7edafaca40444d8dad04"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::computeObservationLikelihood" ref="a6adfc3df476a7edafaca40444d8dad04" args="(const CObservation *obs, const CPose2D &takenFrom)" -->
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<td class="memname">double mrpt::slam::CMetricMap::computeObservationLikelihood </td>
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<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></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>takenFrom</em> </td>
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<p>Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">takenFrom</td><td>The robot's pose the observation is supposed to be taken from. </td></tr>
<tr><td class="paramname">obs</td><td>The observation. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>This method returns a log-likelihood.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>Used in particle filter algorithms, see: CMultiMetricMapPDF::update </dd></dl>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00175">175</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a8184371fde28bc35a9ec461240b83b43"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::computeObservationsLikelihood" ref="a8184371fde28bc35a9ec461240b83b43" args="(const CSensoryFrame &sf, const CPose2D &takenFrom)" -->
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<td class="memname">double mrpt::slam::CMetricMap::computeObservationsLikelihood </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"><em>sf</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>takenFrom</em> </td>
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<td></td><td><code> [inherited]</code></td>
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<p>Returns the sum of the log-likelihoods of each individual observation within a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">mrpt::slam::CSensoryFrame</a>. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">takenFrom</td><td>The robot's pose the observation is supposed to be taken from. </td></tr>
<tr><td class="paramname">sf</td><td>The set of observations in a <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>This method returns a log-likelihood. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ab3b66046cae11313beba57052b852eca" title="Returns true if this map is able to compute a sensible likelihood function for this observation (i...">canComputeObservationsLikelihood</a> </dd></dl>
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<a class="anchor" id="a1bd164f88076e3756b7ff7d34c1b9968"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::countObservedCells" ref="a1bd164f88076e3756b7ff7d34c1b9968" args="() const " -->
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<td class="memname">size_t mrpt::slam::CHeightGridMap2D::countObservedCells </td>
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<p>Return the number of cells with at least one height data inserted. </p>
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_ptr.html">CHeightGridMap2DPtr</a> mrpt::slam::CHeightGridMap2D::Create </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="a2408255ff8c2f4756e2ed052f4702a10"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::CreateObject" ref="a2408255ff8c2f4756e2ed052f4702a10" args="()" -->
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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::CHeightGridMap2D::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="a197c2c0f0bd6b6b6cd82eb4b78b99e0d"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::duplicate" ref="a197c2c0f0bd6b6b6cd82eb4b78b99e0d" 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::CHeightGridMap2D::duplicate </td>
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<td class="paramname"></td><td>)</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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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<td class="memname">void mrpt::utils::CDynamicGrid::fill </td>
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<td class="paramname"><em>value</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Fills all the cells with the same value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00116">116</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a2c1475d451da4cc42fadd71218f340e3"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::getAs3DObject" ref="a2c1475d451da4cc42fadd71218f340e3" args="(mrpt::opengl::CSetOfObjectsPtr &outObj) const " -->
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<td class="memname">void mrpt::slam::CHeightGridMap2D::getAs3DObject </td>
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<td class="paramname"><em>outObj</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a 3D object representing the map: by default, it will be a <a class="el" href="classmrpt_1_1opengl_1_1_c_mesh.html" title="A planar (XY) grid where each cell has an associated height and, optionally, a texture map...">mrpt::opengl::CMesh</a> object, unless it is specified otherwise in mrpt:: </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aca6f34ceb20942667a67cdd5723f87df">mrpt::slam::CMetricMap</a>.</p>
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<td class="memname">void mrpt::utils::CDynamicGrid::getAsMatrix </td>
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<td class="paramtype">MAT & </td>
<td class="paramname"><em>m</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Get the entire grid as a matrix. </p>
<dl><dt><b>Template Parameters:</b></dt><dd>
<table class="">
<tr><td class="paramname">MAT</td><td>The type of the matrix, typically a CMatrixDouble. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">m</td><td>The output matrix; will be set automatically to the correct size. Entry (cy,cx) in the matrix contains the grid cell with indices (cx,cy). </td></tr>
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</dd>
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<dl class="note"><dt><b>Note:</b></dt><dd>This method will compile only for cell types that can be converted to the type of the matrix elements (e.g. double). </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00329">329</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ae7b0688c0e2c0d75554e22b739649463"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::getAsSimplePointsMap" ref="ae7b0688c0e2c0d75554e22b739649463" 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::CMetricMap::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 in <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a9846b0622be65148a62575533919eaa0">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a9a29113ddce6422f468ef5aa716462ef">mrpt::slam::CMultiMetricMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a6c5f6976255dc9b50b218af23f8ea7bf">mrpt::slam::CSimplePointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00346">346</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.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::CMetricMap::getAsSimplePointsMap </td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a64c588c08d8ddbaf80c689c2ab06a72a">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a0e7cd4c36b7e61e041b5bad0dee83a70">mrpt::slam::CMultiMetricMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a340ffc456415944bd87fc75c370eb575">mrpt::slam::CSimplePointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00347">347</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> mrpt::slam::CHeightGridMap2D::getMapType </td>
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<p>Return the type of the gas distribution map, according to parameters passed on construction. </p>
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<p>Computes the minimum and maximum height in the grid. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>False if there is no observed cell yet. </dd></dl>
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<a class="anchor" id="adc2166ca7c775540b668a2f3e81d0ba1"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::getResolution" ref="adc2166ca7c775540b668a2f3e81d0ba1" args="() const " -->
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<p>Returns the resolution of the grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00278">278</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.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::CHeightGridMap2D::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_metric_map.html#a7ae0fed73fe1304f4fbb196bb3fe3400">mrpt::slam::CMetricMap</a>.</p>
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<p>Returns the horizontal size of grid map in cells count. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00254">254</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a4d300627ac8a06e1e277292c1b0a711b"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::getSizeY" ref="a4d300627ac8a06e1e277292c1b0a711b" args="() const " -->
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<p>Returns the vertical size of grid map in cells count. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00258">258</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Returns the "x" coordinate of right side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00266">266</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Returns the "x" coordinate of left side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00262">262</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aa287d6b8076e7377bb37a4e4194cf9b5"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::getYMax" ref="aa287d6b8076e7377bb37a4e4194cf9b5" args="() const " -->
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<p>Returns the "y" coordinate of bottom side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00274">274</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<p>Returns the "y" coordinate of top side of grid map. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00270">270</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a1c1e8c7d0d184ccdaa7d5a0ee5184e1e"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::hasSubscribers" ref="a1c1e8c7d0d184ccdaa7d5a0ee5184e1e" args="() const " -->
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<p>Can be called by a derived class before preparing an event for publishing with <em>publishEvent</em> to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. </p>
<p>Definition at line <a class="el" href="_c_observable_8h_source.html#l00069">69</a> of file <a class="el" href="_c_observable_8h_source.html">CObservable.h</a>.</p>
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<td class="memname">void mrpt::utils::CDynamicGrid::idx2cxcy </td>
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<td class="paramtype">int & </td>
<td class="paramname"><em>cx</em>, </td>
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<td class="paramtype">int & </td>
<td class="paramname"><em>cy</em> </td>
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<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Transform a global (linear) cell index value into its corresponding (x,y) cell indexes. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00306">306</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<td> const<code> [inline, inherited]</code></td>
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<p>Transform a cell index into a coordinate value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00314">314</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aad004e29d48cd60015f6711f497483fa"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::idx2y" ref="aad004e29d48cd60015f6711f497483fa" args="(int cy) const " -->
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<td class="memname">float mrpt::utils::CDynamicGrid::idx2y </td>
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<td class="paramname"><em>cy</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00315">315</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ad1d3f22228d6dbdb3c31c132713bf782"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::insertObservation" ref="ad1d3f22228d6dbdb3c31c132713bf782" args="(const CObservation *obs, const CPose3D *robotPose=NULL)" -->
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<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="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>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 the origin.</td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a4dadc9d2618ea3701084e8cce4671564" title="This method is equivalent to:">CObservation::insertObservationInto</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00133">133</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a7cb614f5ec634ec6f6a20b14163e5b07"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::insertObservationPtr" ref="a7cb614f5ec634ec6f6a20b14163e5b07" args="(const CObservationPtr &obs, const CPose3D *robotPose=NULL)" -->
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> & </td>
<td class="paramname"><em>obs</em>, </td>
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<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>
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<p>A wrapper for smart pointers, just calls the non-smart pointer version. </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00147">147</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, <a class="el" href="_c_observation_8h_source.html#l00067">mrpt::slam::CObservationPtr::pointer()</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<td class="memname">virtual void mrpt::slam::CHeightGridMap2D::internal_clear </td>
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<p>Erase all the contents of the map. </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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<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="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>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#a4dadc9d2618ea3701084e8cce4671564" 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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<p>Gets the intersection between a 3D line and a Height Grid map (taking into account the different heights of each individual cell). </p>
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<p>Returns true if the map is empty/no observation has been inserted. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ab4243c534f004d3397c82f5b5e7d46a8">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="a9fbc1945a342365600bf352ec89fc617"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::loadFromProbabilisticPosesAndObservations" ref="a9fbc1945a342365600bf352ec89fc617" args="(const CSimpleMap &Map)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
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<td><code> [inherited]</code></td>
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<p>Load the map contents from a <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object, erasing all previous content of the map. </p>
<p>This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... </td></tr>
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<a class="anchor" id="aedf155237d3fe3d595994b9659a4e688"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::loadFromSimpleMap" ref="aedf155237d3fe3d595994b9659a4e688" args="(const CSimpleMap &Map)" -->
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<td class="memname">void mrpt::slam::CMetricMap::loadFromSimpleMap </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
<td class="paramname"><em>Map</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Load the map contents from a <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object, erasing all previous content of the map. </p>
<p>This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> object.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00124">124</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="aa99e6b75ba0d986dd68df5342d9a16e3"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_map_castaway_const" ref="aa99e6b75ba0d986dd68df5342d9a16e3" args="() const " -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T>& mrpt::utils::CDynamicGrid::m_map_castaway_const </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, protected, inherited]</code></td>
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<p>Used only from logically const method that really need to modify the object. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00052">52</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a0c384e00c06199bc2ff37ff5ecb520c9"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::publishEvent" ref="a0c384e00c06199bc2ff37ff5ecb520c9" args="(const mrptEvent &e) const " -->
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<td class="memname">void mrpt::utils::CObservable::publishEvent </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1mrpt_event.html">mrptEvent</a> & </td>
<td class="paramname"><em>e</em></td><td>)</td>
<td> const<code> [protected, inherited]</code></td>
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<p>Called when you want this object to emit an event to all the observers currently subscribed to this object. </p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" 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> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="af43d36e226e0c62a03353504bc443556"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::resize" ref="af43d36e226e0c62a03353504bc443556" args="(float new_x_min, float new_x_max, float new_y_min, float new_y_max, const T &defaultValueNewCells, float additionalMarginMeters=2.0f)" -->
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<td class="memname">virtual void mrpt::utils::CDynamicGrid::resize </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>new_y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const T & </td>
<td class="paramname"><em>defaultValueNewCells</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>additionalMarginMeters</em> = <code>2.0f</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
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<p>Changes the size of the grid, maintaining previous contents. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="eigen__plugins_8h.html#a8133077108cd44f617e7784243eb5db9" title="Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...">setSize</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00121">121</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a689d86d30757a8455d51820001ac4f12"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::saveMetricMapRepresentationToFile" ref="a689d86d30757a8455d51820001ac4f12" args="(const std::string &filNamePrefix) const " -->
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<td class="memname">void mrpt::slam::CHeightGridMap2D::saveMetricMapRepresentationToFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filNamePrefix</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>The implementation in this class just calls all the corresponding method of the contained metric maps. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ae53f6697d660d43ebaaf8621945ebef0">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="ad4a3fca506c6391411806f563de64047"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::saveToTextFile" ref="ad4a3fca506c6391411806f563de64047" args="(const std::string &fileName) const " -->
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<td class="memname">void mrpt::utils::CDynamicGrid::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>fileName</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00286">286</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a926be9ff11d4f3a8f5553262b8fcacd9"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::setSize" ref="a926be9ff11d4f3a8f5553262b8fcacd9" args="(float x_min, float x_max, float y_min, float y_max, float resolution)" -->
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<td class="memname">void mrpt::utils::CDynamicGrid::setSize </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>x_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_min</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_max</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>resolution</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Changes the size of the grid, ERASING all previous contents. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>resize </dd></dl>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00083">83</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ae6235efcb6d5da8e9db1ad6ccfb8225c"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::squareDistanceToClosestCorrespondence" ref="ae6235efcb6d5da8e9db1ad6ccfb8225c" args="(const float &x0, const float &y0) const " -->
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<td class="memname">virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence </td>
<td>(</td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>x0</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>y0</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, virtual, inherited]</code></td>
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<p>Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00333">333</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
</tr>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" 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>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="af7c9b186fa24f231178f0b1ccd778ab1"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::x2idx" ref="af7c9b186fa24f231178f0b1ccd778ab1" args="(float x) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::x2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Transform a coordinate values into cell indexes. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00301">301</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ae5f9732fa03110a3a1c801672d073251"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::x2idx" ref="ae5f9732fa03110a3a1c801672d073251" args="(float x, float x_min) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::x2idx </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>x_min</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Transform a coordinate value into a cell index, using a diferent "x_min" value. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00319">319</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a63dedb14db1e7363f45ab7c6aed9fdb8"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::xy2idx" ref="a63dedb14db1e7363f45ab7c6aed9fdb8" args="(float x, float y) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::xy2idx </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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00303">303</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="af5210a6b58e116584fb7ec391048573b"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::y2idx" ref="af5210a6b58e116584fb7ec391048573b" args="(float y) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::y2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00302">302</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a0460a7c8543c6e9f8de28cc5cadfa640"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::y2idx" ref="a0460a7c8543c6e9f8de28cc5cadfa640" args="(float y, float y_min) const " -->
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<td class="memname">int mrpt::utils::CDynamicGrid::y2idx </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>y_min</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00320">320</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
</tr>
</table>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00081">81</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a21fbd1544bfe4574fc32ca8c95f8b051"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::_init_CHeightGridMap2D" ref="a21fbd1544bfe4574fc32ca8c95f8b051" 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_height_grid_map2_d.html#a21fbd1544bfe4574fc32ca8c95f8b051">mrpt::slam::CHeightGridMap2D::_init_CHeightGridMap2D</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00098">98</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<a class="anchor" id="a035a85b8bc157c74aecff21d278dd3fe"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::classCHeightGridMap2D" ref="a035a85b8bc157c74aecff21d278dd3fe" 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_height_grid_map2_d.html#a035a85b8bc157c74aecff21d278dd3fe">mrpt::slam::CHeightGridMap2D::classCHeightGridMap2D</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00098">98</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<a class="anchor" id="a1cbb8630027acc3d6d227fa7d78c724f"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::classCMetricMap" ref="a1cbb8630027acc3d6d227fa7d78c724f" 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_metric_map.html#a1cbb8630027acc3d6d227fa7d78c724f">mrpt::slam::CMetricMap::classCMetricMap</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00081">81</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" 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_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" 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_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="ab247c618afdd81dcfb9905eeb55f0b9c"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::classinfo" ref="ab247c618afdd81dcfb9905eeb55f0b9c" 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_height_grid_map2_d.html#ab247c618afdd81dcfb9905eeb55f0b9c">mrpt::slam::CHeightGridMap2D::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00098">98</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<a class="anchor" id="aa2c9103a438055f2bee7c412df4a40ab"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::insertionOptions" ref="aa2c9103a438055f2bee7c412df4a40ab" args="" -->
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_height_grid_map2_d_1_1_t_insertion_options.html">mrpt::slam::CHeightGridMap2D::TInsertionOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aa2c9103a438055f2bee7c412df4a40ab">mrpt::slam::CHeightGridMap2D::insertionOptions</a></td>
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<a class="anchor" id="a2b50a8c61d853cc452b82d58756e9603"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_disableSaveAs3DObject" ref="a2b50a8c61d853cc452b82d58756e9603" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a2b50a8c61d853cc452b82d58756e9603">mrpt::slam::CMetricMap::m_disableSaveAs3DObject</a><code> [inherited]</code></td>
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<p>When set to true (default=false), calling "getAs3DObject" will have no effects. </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00321">321</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a44e35967e6dfa4a1d4ea877310c10ebb"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_map" ref="a44e35967e6dfa4a1d4ea877310c10ebb" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T> <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a44e35967e6dfa4a1d4ea877310c10ebb">mrpt::utils::CDynamicGrid::m_map</a><code> [protected, inherited]</code></td>
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<p>The cells. </p>
<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00049">49</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a56539ab4a94bb1d09091b8af33bf0c61"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_mapType" ref="a56539ab4a94bb1d09091b8af33bf0c61" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2ceb1ed5a74eb5bb39da18434dcf9370">TMapRepresentation</a> <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a56539ab4a94bb1d09091b8af33bf0c61">mrpt::slam::CHeightGridMap2D::m_mapType</a><code> [protected]</code></td>
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<p>The map representation type of this map. </p>
<p>Definition at line <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00224">224</a> of file <a class="el" href="_c_height_grid_map2_d_8h_source.html">CHeightGridMap2D.h</a>.</p>
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<a class="anchor" id="a0d8fd68a29ddbdd0b4b635ef4a082357"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_resolution" ref="a0d8fd68a29ddbdd0b4b635ef4a082357" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a0d8fd68a29ddbdd0b4b635ef4a082357">mrpt::utils::CDynamicGrid::m_resolution</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00055">55</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a3c6d52443dc50cdcd4aac442df119231"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_size_x" ref="a3c6d52443dc50cdcd4aac442df119231" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a3c6d52443dc50cdcd4aac442df119231">mrpt::utils::CDynamicGrid::m_size_x</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00056">56</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="aa60d1d0c9e789f4201cda9974dfe36df"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_size_y" ref="aa60d1d0c9e789f4201cda9974dfe36df" args="" -->
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<td class="memname">size_t <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#aa60d1d0c9e789f4201cda9974dfe36df">mrpt::utils::CDynamicGrid::m_size_y</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00056">56</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ab7fa28466fd34353ec079990c2519103"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_x_max" ref="ab7fa28466fd34353ec079990c2519103" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ab7fa28466fd34353ec079990c2519103">mrpt::utils::CDynamicGrid::m_x_max</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a9aa912e950257c3a3a50d29f89485aee"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_x_min" ref="a9aa912e950257c3a3a50d29f89485aee" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a9aa912e950257c3a3a50d29f89485aee">mrpt::utils::CDynamicGrid::m_x_min</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="a706b0fdf9622d791d34132403f9f8451"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_y_max" ref="a706b0fdf9622d791d34132403f9f8451" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#a706b0fdf9622d791d34132403f9f8451">mrpt::utils::CDynamicGrid::m_y_max</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.h</a>.</p>
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<a class="anchor" id="ac6e709aef8fdbb23f8c24ce61ae93a9e"></a><!-- doxytag: member="mrpt::slam::CHeightGridMap2D::m_y_min" ref="ac6e709aef8fdbb23f8c24ce61ae93a9e" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1utils_1_1_c_dynamic_grid.html#ac6e709aef8fdbb23f8c24ce61ae93a9e">mrpt::utils::CDynamicGrid::m_y_min</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_dynamic_grid_8h_source.html#l00054">54</a> of file <a class="el" href="_c_dynamic_grid_8h_source.html">CDynamicGrid.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 1.7.5</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>
