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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> </li>
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<div class="title">mrpt::slam::CLandmarksMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CLandmarksMap" --><!-- doxytag: inherits="mrpt::slam::CMetricMap" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A class for storing a map of 3D probabilistic landmarks. </p>
<p><br/>
Currently these types of landmarks are defined: (see <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html" title="The class for storing "landmarks" (visual or laser-scan-extracted features,...)">mrpt::slam::CLandmark</a>)</p>
<ul>
<li>For "visual landmarks" from images: features with associated descriptors.</li>
<li>For laser scanners: each of the range measuremnts, as "occupancy" landmarks.</li>
<li>For grid maps: "Panoramic descriptor" feature points.</li>
<li>For range-only localization and SLAM: Beacons. It is also supported the simulation of expected beacon-to-sensor readings, observation likelihood,... <br/>
<b>How to load landmarks from observations:</b><br/>
When invoking <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">CLandmarksMap::insertObservation()</a>, the values in <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ad91970cef3d85aa5c83fd848776cef34">CLandmarksMap::insertionOptions</a> will determinate the kind of landmarks that will be extracted and fused into the map. Supported feature extraction processes are listed next:</li>
</ul>
<table class="doxtable">
<tr>
<td><b>Observation class:</b> </td><td><b>Generated Landmarks:</b> </td><td><b>Comments:</b> </td></tr>
<tr>
<td><a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">CObservationImage</a> </td><td>vlSIFT </td><td>1) A SIFT feature is created for each SIFT detected in the image, <br/>
2) Correspondences between SIFTs features and existing ones are finded by computeMatchingWith3DLandmarks, <br/>
3) The corresponding feaures are fused, and the new ones added, with an initial uncertainty according to insertionOptions </td></tr>
<tr>
<td><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> </td><td>vlSIFT </td><td>Each image is separately procesed by the method for <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html" title="Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored.">CObservationImage</a> observations </td></tr>
<tr>
<td><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> </td><td>vlColor </td><td>TODO... </td></tr>
<tr>
<td><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">CObservation2DRangeScan</a> </td><td>glOccupancy </td><td>A landmark is added for each range in the scan, with its appropiate covariance matrix derived from the jacobians matrixes. </td></tr>
</table>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_landmarks_map_8h_source.html">mrpt/slam/CLandmarksMap.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CLandmarksMap:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_landmarks_map__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_landmarks_map_inherit__map" alt="Inheritance graph"/></div>
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<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="100,155,263,181"/><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="4,80,168,107"/><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="194,80,357,107"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_landmarks_map-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_landmarks_map_1_1_t_custom_sequence_landmarks.html">TCustomSequenceLandmarks</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of landmarks: the wrapper class is just for maintaining the KD-Tree representation. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_custom_sequence_landmarks.html#details">More...</a><br/></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_landmarks_map_1_1_t_fuse_options.html">TFuseOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">With this struct options are provided to the fusion process. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_fuse_options.html#details">More...</a><br/></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_landmarks_map_1_1_t_insertion_options.html">TInsertionOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">With this struct options are provided to the observation insertion process. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html#details">More...</a><br/></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_landmarks_map_1_1_t_insertion_results.html">TInsertionResults</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This struct stores extra results from invoking insertObservation. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_results.html#details">More...</a><br/></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_landmarks_map_1_1_t_likelihood_options.html">TLikelihoodOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">With this struct options are provided to the likelihood computations. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_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">typedef <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html">mrpt::slam::CLandmark</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ab48b1c6e6701a0d5182e17d50248d32d">landmark_type</a></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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a4a208e02529813a34dfffe58110e7d33">CLandmarksMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a4a208e02529813a34dfffe58110e7d33"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a9bb649f8ad348d557d4ea0bc077f51a7">~CLandmarksMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#a9bb649f8ad348d557d4ea0bc077f51a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a8885713da55db046537a3b423ddf22a5">getMapMaxID</a> ()</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_landmarks_map.html#ab97e7f011d8b72951725669d770af58e">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="#ab97e7f011d8b72951725669d770af58e"></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_landmarks_map.html#ad7e91ccd233e610a748c2438715e1b62">saveToTextFile</a> (<a class="el" href="classstd_1_1string.html">std::string</a> file)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save to a text file. <a href="#ad7e91ccd233e610a748c2438715e1b62"></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_landmarks_map.html#a5c2e6012bb95017cd62fa7f9de228470">saveToMATLABScript2D</a> (<a class="el" href="classstd_1_1string.html">std::string</a> file, const char *style="b", float stdCount=2.0f)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane). <a href="#a5c2e6012bb95017cd62fa7f9de228470"></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_landmarks_map.html#a5043597fe0351ff24d499035a4fc907e">saveToMATLABScript3D</a> (<a class="el" href="classstd_1_1string.html">std::string</a> file, const char *style="b", float confInterval=0.95f) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save to a MATLAB script which displays 3D error ellipses for the map. <a href="#a5043597fe0351ff24d499035a4fc907e"></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_landmarks_map.html#a36f9e28d3f98e252e9c8265a775a3d43">size</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the stored landmarks count. <a href="#a36f9e28d3f98e252e9c8265a775a3d43"></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_landmarks_map.html#a5e959578c8c44f14f6658bdee4b6a4af">computeLikelihood_RSLC_2007</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> *s, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &sensorPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map. <a href="#a5e959578c8c44f14f6658bdee4b6a4af"></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_landmarks_map.html#a99582ffa336687ce26c99212114ad35b">loadSiftFeaturesFromImageObservation</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html">CObservationImage</a> &obs, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> &feat_options=<a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a>(mrpt::vision::featSIFT))</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. <a href="#a99582ffa336687ce26c99212114ad35b"></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_landmarks_map.html#ae8c0a0964dc2d20e6f6f3832d805fb00">loadSiftFeaturesFromStereoImageObservation</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a> &obs, <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> fID, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> &feat_options=<a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a>(mrpt::vision::featSIFT))</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. <a href="#ae8c0a0964dc2d20e6f6f3832d805fb00"></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_landmarks_map.html#adc50d9b64f4850cdbd5991bdb5f05e75">loadOccupancyFeaturesFrom2DRangeScan</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> &obs, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> *robotPose=NULL, unsigned int downSampleFactor=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased) <a href="#adc50d9b64f4850cdbd5991bdb5f05e75"></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_landmarks_map.html#aabed5d111907270ef896b2588a8bfbb8">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 (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map. <a href="#aabed5d111907270ef896b2588a8bfbb8"></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_landmarks_map.html#a1b4ddd18ca59e4ff5ce4624fee6602ea">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=false, bool onlyUniqueRobust=false) const </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_landmarks_map.html#a73ba59b3b1af33c4f86e648268991cea">computeMatchingWith3DLandmarks</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> *otherMap, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &correspondences, float &correspondencesRatio, <a class="el" href="classstd_1_1vector.html">std::vector</a>< bool > &otherCorrespondences) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs. <a href="#a73ba59b3b1af33c4f86e648268991cea"></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_landmarks_map.html#ab4654023680f19e3b4b612ed1bc94ffb">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newOrg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the reference system of the map to a given 3D pose. <a href="#ab4654023680f19e3b4b612ed1bc94ffb"></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_landmarks_map.html#a0fddef49f06149f3f5b4692f9284b04d">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newOrg, const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> *otherMap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the reference system of the map "otherMap" and save the result in "this" map. <a href="#a0fddef49f06149f3f5b4692f9284b04d"></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_landmarks_map.html#adede8ba9b97599bfdb6763d030bb2681">fuseWith</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> &other, bool justInsertAllOfThem=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fuses the contents of another map with this one, updating "this" object with the result. <a href="#adede8ba9b97599bfdb6763d030bb2681"></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_landmarks_map.html#a7c953e35011ee54f8cdb0405cf29c2e3">computeLikelihood_SIFT_LandmarkMap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> *<a class="el" href="classstd_1_1map.html">map</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> *correspondences=NULL, <a class="el" href="classstd_1_1vector.html">std::vector</a>< bool > *otherCorrespondences=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map. <a href="#a7c953e35011ee54f8cdb0405cf29c2e3"></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_landmarks_map.html#ac4df34b818a5d55074c5cb3fc711252d">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="#ac4df34b818a5d55074c5cb3fc711252d"></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_landmarks_map.html#a27bce6a4ab09791a50b009fd96dc98c4">simulateBeaconReadings</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &in_robotPose, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &in_sensorLocationOnRobot, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html">CObservationBeaconRanges</a> &out_Observations) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Simulates a noisy reading toward each of the beacons in the landmarks map, if any. <a href="#a27bce6a4ab09791a50b009fd96dc98c4"></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_landmarks_map.html#a46f159bb017345af43d1f8c1e41d7270">simulateRangeBearingReadings</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &robotPose, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &sensorLocationOnRobot, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> &observations, bool sensorDetectsIDs=true, const float stdRange=0.01f, const float stdYaw=DEG2RAD(0.1f), const float stdPitch=DEG2RAD(0.1f), vector_size_t *real_associations=NULL, const double spurious_count_mean=0, const double spurious_count_std=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any. <a href="#a46f159bb017345af43d1f8c1e41d7270"></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_landmarks_map.html#aaa36737baa422bf3efc4958a85dcc6fc">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">This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). <a href="#aaa36737baa422bf3efc4958a85dcc6fc"></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_landmarks_map.html#a3da069a47977f0d9e0c5755a4f785044">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. <a href="#a3da069a47977f0d9e0c5755a4f785044"></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_landmarks_map.html#a20f3250d3a6b02030ab58cfa7e544529">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="#a20f3250d3a6b02030ab58cfa7e544529"></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#afe18b3eac9b4ff07b674e0eb74652f5b">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all the contents of the map. <a href="#afe18b3eac9b4ff07b674e0eb74652f5b"></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 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 colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct VISION_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_custom_sequence_landmarks.html">mrpt::slam::CLandmarksMap::TCustomSequenceLandmarks</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a9d722a101559b8f25bfe251eb43afee3">landmarks</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html">mrpt::slam::CLandmarksMap::TInsertionOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ad91970cef3d85aa5c83fd848776cef34">insertionOptions</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html">mrpt::slam::CLandmarksMap::TLikelihoodOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#abdfc84a36d90df2ec598dfad9db275b7">likelihoodOptions</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct VISION_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_results.html">mrpt::slam::CLandmarksMap::TInsertionResults</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a1c6ab87ec1fab5b221ba33db50445653">insertionResults</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct VISION_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_fuse_options.html">mrpt::slam::CLandmarksMap::TFuseOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a47c295ea68e88e9c5d067c91ff80fdd1">fuseOptions</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 <a class="el" href="structmrpt_1_1utils_1_1_t_colorf.html">mrpt::utils::TColorf</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a8ffcbfa68adf79f56c4d00e4157ebf55">COLOR_LANDMARKS_IN_3DSCENES</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The color of landmark ellipsoids in <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a3da069a47977f0d9e0c5755a4f785044" title="Returns a 3D object representing the map.">CLandmarksMap::getAs3DObject</a>. <a href="#a8ffcbfa68adf79f56c4d00e4157ebf55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classstd_1_1map.html">std::map</a>< std::pair<br class="typebreak"/>
< <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a>, <br class="typebreak"/>
<a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> ><br class="typebreak"/>
, double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a2ce793f40b47fae3855a944727eecc6d">_mEDD</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks. <a href="#a2ce793f40b47fae3855a944727eecc6d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <br class="typebreak"/>
<a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ae9ac8e48f336e11dae14770b9348c30a">_mapMaxID</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ab7e0c7d75843806aaa90a29d9d372a0f">_maxIDUpdated</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_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_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 colspan="2"><h2><a name="pri-methods"></a>
Private 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_landmarks_map.html#a6ca13b1304fba1d8b83c289caa74dd72">internal_clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal method called by <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b" title="Erase all the contents of the map.">clear()</a> <a href="#a6ca13b1304fba1d8b83c289caa74dd72"></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_landmarks_map.html#a1cc9215c31d5ce3d6e1715ae4844088f">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="#a1cc9215c31d5ce3d6e1715ae4844088f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">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>
<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_landmarks_map_ptr.html">CLandmarksMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a55c53c2f970e1847e6b8b06259869896">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_landmarks_map.html#a96a8d85d6b29e753c8aa02853a2a0bb1">_init_CLandmarksMap</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_landmarks_map.html#a071a29e6ddbc5d0d18cdaa09700dd5a8">classCLandmarksMap</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_landmarks_map.html#acdacdb286656906e8600af5fa7d6fe3c">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_landmarks_map.html#a6d92c6e8161894485da8f966a94eeb85">_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_landmarks_map.html#aee803e47300b638302daf2a6c737c4c5">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="#aee803e47300b638302daf2a6c737c4c5"></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_landmarks_map.html#a2092c4cab9d1062f66449832e970d427">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="#a2092c4cab9d1062f66449832e970d427"></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_landmarks_map.html#afc7416252811f80a321774e243eaafda">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a549e66ea060c96ab704c4917825b0c04">Create</a> ()</td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab48b1c6e6701a0d5182e17d50248d32d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::landmark_type" ref="ab48b1c6e6701a0d5182e17d50248d32d" args="" -->
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<td class="memname">typedef <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html">mrpt::slam::CLandmark</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ab48b1c6e6701a0d5182e17d50248d32d">mrpt::slam::CLandmarksMap::landmark_type</a></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00104">104</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a55c53c2f970e1847e6b8b06259869896"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::SmartPtr" ref="a55c53c2f970e1847e6b8b06259869896" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a55c53c2f970e1847e6b8b06259869896">mrpt::slam::CLandmarksMap::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_landmarks_map_8h_source.html#l00085">85</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a4a208e02529813a34dfffe58110e7d33"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::CLandmarksMap" ref="a4a208e02529813a34dfffe58110e7d33" args="()" -->
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<td class="memname">mrpt::slam::CLandmarksMap::CLandmarksMap </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Constructor. </p>
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<a class="anchor" id="a9bb649f8ad348d557d4ea0bc077f51a7"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::~CLandmarksMap" ref="a9bb649f8ad348d557d4ea0bc077f51a7" args="()" -->
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<td class="memname">virtual mrpt::slam::CLandmarksMap::~CLandmarksMap </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Virtual destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6d92c6e8161894485da8f966a94eeb85"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::_GetBaseClass" ref="a6d92c6e8161894485da8f966a94eeb85" 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::CLandmarksMap::_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="a20f3250d3a6b02030ab58cfa7e544529"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::auxParticleFilterCleanUp" ref="a20f3250d3a6b02030ab58cfa7e544529" args="()" -->
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<td class="memname">virtual void mrpt::slam::CLandmarksMap::auxParticleFilterCleanUp </td>
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<td><code> [virtual]</code></td>
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<p>This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". </p>
<p>This method should normally do nothing, but in some cases can be used to free auxiliary cached variables. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aabd4d4be402cdd01bc8db467f214516a">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="a8936d61e45446a74633d00a7ce6b4603"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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>
<td class="paramname"><em>obs</em></td><td>)</td>
<td><code> [inline, virtual, 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">obs</td><td>The observation. </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_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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<a class="anchor" id="ab3b66046cae11313beba57052b852eca"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::canComputeObservationsLikelihood" ref="ab3b66046cae11313beba57052b852eca" args="(const CSensoryFrame &sf)" -->
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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="ab4654023680f19e3b4b612ed1bc94ffb"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::changeCoordinatesReference" ref="ab4654023680f19e3b4b612ed1bc94ffb" args="(const CPose3D &newOrg)" -->
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<td class="memname">void mrpt::slam::CLandmarksMap::changeCoordinatesReference </td>
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<p>Changes the reference system of the map to a given 3D pose. </p>
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<a class="anchor" id="a0fddef49f06149f3f5b4692f9284b04d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::changeCoordinatesReference" ref="a0fddef49f06149f3f5b4692f9284b04d" args="(const CPose3D &newOrg, const mrpt::slam::CLandmarksMap *otherMap)" -->
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> * </td>
<td class="paramname"><em>otherMap</em> </td>
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<td>)</td>
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<p>Changes the reference system of the map "otherMap" and save the result in "this" map. </p>
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<a class="anchor" id="afe18b3eac9b4ff07b674e0eb74652f5b"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::clear" ref="afe18b3eac9b4ff07b674e0eb74652f5b" args="()" -->
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<td class="memname">void mrpt::slam::CMetricMap::clear </td>
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<td><code> [inherited]</code></td>
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<p>Erase all the contents of the map. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a814f4778b6ae7a2f9896311258d11d16">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a77e7ba89a13dd3079dfa46fef82b6b9b">mrpt::slam::CHeightGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#ae39b4063ba212605e1746508f50acb5a">mrpt::slam::CReflectivityGridMap2D</a>.</p>
<p>Referenced by <a class="el" href="_c_height_grid_map2_d_8h_source.html#l00104">mrpt::slam::CHeightGridMap2D::clear()</a>, and <a class="el" href="_c_reflectivity_grid_map2_d_8h_source.html#l00082">mrpt::slam::CReflectivityGridMap2D::clear()</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<td> const<code> [inline, inherited]</code></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="ab97e7f011d8b72951725669d770af58e"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::compute3DMatchingRatio" ref="ab97e7f011d8b72951725669d770af58e" 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::CLandmarksMap::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>
<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="paramkey"></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="paramkey"></td>
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<td class="paramtype">float </td>
<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_landmarks_map.html#a1b4ddd18ca59e4ff5ce4624fee6602ea">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="a5e959578c8c44f14f6658bdee4b6a4af"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::computeLikelihood_RSLC_2007" ref="a5e959578c8c44f14f6658bdee4b6a4af" args="(const CLandmarksMap *s, const CPose2D &sensorPose)" -->
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<td class="memname">double mrpt::slam::CLandmarksMap::computeLikelihood_RSLC_2007 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> * </td>
<td class="paramname"><em>s</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>sensorPose</em> </td>
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<p>Computes the (logarithmic) likelihood function for a sensed observation "o" according to "this" map. </p>
<p>This is the implementation of the algorithm reported in the paper: <em>J.L. Blanco, J. Gonzalez, and J.A. Fernandez-Madrigal, "A Consensus-based Approach for Estimating the Observation Likelihood of Accurate Range Sensors", in IEEE International Conference on Robotics and Automation (ICRA), Rome (Italy), Apr 10-14, 2007</em> </p>
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<a class="anchor" id="a7c953e35011ee54f8cdb0405cf29c2e3"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap" ref="a7c953e35011ee54f8cdb0405cf29c2e3" args="(CLandmarksMap *map, TMatchingPairList *correspondences=NULL, std::vector< bool > *otherCorrespondences=NULL)" -->
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<td class="memname">double mrpt::slam::CLandmarksMap::computeLikelihood_SIFT_LandmarkMap </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> * </td>
<td class="paramname"><em>map</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> = <code>NULL</code>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< bool > * </td>
<td class="paramname"><em>otherCorrespondences</em> = <code>NULL</code> </td>
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<p>Returns the (logarithmic) likelihood of a set of landmarks "map" given "this" map. </p>
<p>See paper: JJAA 2006 </p>
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<a class="anchor" id="aa684de52360d687fb0ee30790f430574"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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="paramkey"></td>
<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>otherMapPose</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>maxDistForCorrespondence</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>maxAngularDistForCorrespondence</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>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="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></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<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="a1b4ddd18ca59e4ff5ce4624fee6602ea"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::computeMatchingWith2D" ref="a1b4ddd18ca59e4ff5ce4624fee6602ea" args="(const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=false, bool onlyUniqueRobust=false) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::computeMatchingWith2D </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="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="paramtype">float </td>
<td class="paramname"><em>maxDistForCorrespondence</em>, </td>
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<td class="paramtype">float </td>
<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="paramtype">float & </td>
<td class="paramname"><em>correspondencesRatio</em>, </td>
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<td class="paramtype">float * </td>
<td class="paramname"><em>sumSqrDist</em> = <code>NULL</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>onlyKeepTheClosest</em> = <code>false</code>, </td>
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<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code> </td>
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<td>)</td>
<td></td><td> const</td>
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<a class="anchor" id="a7aafbdbb3f2cb17e14e1af9997c3fa48"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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>
<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="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>maxDistForCorrespondence</em>, </td>
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<td class="paramtype">float </td>
<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 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="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>decimation_other_map_points</em> = <code>1</code>, </td>
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<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 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>
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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_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="a73ba59b3b1af33c4f86e648268991cea"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::computeMatchingWith3DLandmarks" ref="a73ba59b3b1af33c4f86e648268991cea" args="(const mrpt::slam::CLandmarksMap *otherMap, TMatchingPairList &correspondences, float &correspondencesRatio, std::vector< bool > &otherCorrespondences) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::computeMatchingWith3DLandmarks </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">mrpt::slam::CLandmarksMap</a> * </td>
<td class="paramname"><em>otherMap</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="paramname"><em>correspondencesRatio</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< bool > & </td>
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<p>Perform a search for correspondences between "this" and another lansmarks map: In this class, the matching is established solely based on the landmarks' IDs. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>[IN] The other map. </td></tr>
<tr><td class="paramname">correspondences</td><td>[OUT] The matched pairs between maps. </td></tr>
<tr><td class="paramname">correspondencesRatio</td><td>[OUT] This is NumberOfMatchings / NumberOfLandmarksInTheAnotherMap </td></tr>
<tr><td class="paramname">otherCorrespondences</td><td>[OUT] Will be returned with a vector containing "true" for the indexes of the other map's landmarks with a correspondence. </td></tr>
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</dd>
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<a class="anchor" id="a6adfc3df476a7edafaca40444d8dad04"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<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>
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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>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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<td class="memname">double mrpt::slam::CLandmarksMap::computeObservationLikelihood </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> * </td>
<td class="paramname"><em>obs</em>, </td>
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<td class="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 (logarithmic) likelihood that a given observation was taken from a given pose in the world being modeled with this map. </p>
<p>In the current implementation, this method behaves in a different way according to the nature of the observation's class:</p>
<ul>
<li>"mrpt::slam::CObservation2DRangeScan": This calls "computeLikelihood_RSLC_2007".</li>
<li>"mrpt::slam::CObservationStereoImages": This calls "computeLikelihood_SIFT_LandmarkMap".</li>
</ul>
<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 value > 0.</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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<td class="memname">double mrpt::slam::CMetricMap::computeObservationsLikelihood </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </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="a549e66ea060c96ab704c4917825b0c04"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::Create" ref="a549e66ea060c96ab704c4917825b0c04" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_ptr.html">CLandmarksMapPtr</a> mrpt::slam::CLandmarksMap::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CLandmarksMap::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="a2092c4cab9d1062f66449832e970d427"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::duplicate" ref="a2092c4cab9d1062f66449832e970d427" 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::CLandmarksMap::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<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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<a class="anchor" id="adede8ba9b97599bfdb6763d030bb2681"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::fuseWith" ref="adede8ba9b97599bfdb6763d030bb2681" args="(CLandmarksMap &other, bool justInsertAllOfThem=false)" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> & </td>
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<p>Fuses the contents of another map with this one, updating "this" object with the result. </p>
<p>This process involves fusing corresponding landmarks, then adding the new ones. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">other</td><td>The other landmarkmap, whose landmarks will be inserted into "this" </td></tr>
<tr><td class="paramname">justInsertAllOfThem</td><td>If set to "true", all the landmarks in "other" will be inserted into "this" without checking for possible correspondences (may appear duplicates ones, etc...) </td></tr>
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<a class="anchor" id="a3da069a47977f0d9e0c5755a4f785044"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::getAs3DObject" ref="a3da069a47977f0d9e0c5755a4f785044" args="(mrpt::opengl::CSetOfObjectsPtr &outObj) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::getAs3DObject </td>
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<p>Returns a 3D object representing the map. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a8ffcbfa68adf79f56c4d00e4157ebf55" title="The color of landmark ellipsoids in CLandmarksMap::getAs3DObject.">COLOR_LANDMARKS_IN_3DSCENES</a> </dd></dl>
<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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<a class="anchor" id="ae7b0688c0e2c0d75554e22b739649463"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<a class="anchor" id="a8885713da55db046537a3b423ddf22a5"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::getMapMaxID" ref="a8885713da55db046537a3b423ddf22a5" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> mrpt::slam::CLandmarksMap::getMapMaxID </td>
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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::CLandmarksMap::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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<a class="anchor" id="a1c1e8c7d0d184ccdaa7d5a0ee5184e1e"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<a class="anchor" id="ad1d3f22228d6dbdb3c31c132713bf782"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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="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>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>
</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>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::CLandmarksMap::insertObservationPtr" ref="a7cb614f5ec634ec6f6a20b14163e5b07" args="(const CObservationPtr &obs, const CPose3D *robotPose=NULL)" -->
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<td class="memname">bool mrpt::slam::CMetricMap::insertObservationPtr </td>
<td>(</td>
<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></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"><em>robotPose</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [inline, inherited]</code></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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<a class="anchor" id="a6ca13b1304fba1d8b83c289caa74dd72"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::internal_clear" ref="a6ca13b1304fba1d8b83c289caa74dd72" args="()" -->
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<td class="memname">virtual void mrpt::slam::CLandmarksMap::internal_clear </td>
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<p>Internal method called by <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#afe18b3eac9b4ff07b674e0eb74652f5b" title="Erase all the contents of the map.">clear()</a> </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a9c19a7f400d7edb087a81e28cafb39d1">mrpt::slam::CMetricMap</a>.</p>
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<a class="anchor" id="a1cc9215c31d5ce3d6e1715ae4844088f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::internal_insertObservation" ref="a1cc9215c31d5ce3d6e1715ae4844088f" args="(const CObservation *obs, const CPose3D *robotPose=NULL)" -->
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<td class="memname">virtual bool mrpt::slam::CLandmarksMap::internal_insertObservation </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>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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<a class="anchor" id="ac4df34b818a5d55074c5cb3fc711252d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::isEmpty" ref="ac4df34b818a5d55074c5cb3fc711252d" args="() const " -->
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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::CLandmarksMap::loadFromProbabilisticPosesAndObservations" ref="a9fbc1945a342365600bf352ec89fc617" args="(const CSimpleMap &Map)" -->
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<td class="memname">void mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations </td>
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<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> [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::CLandmarksMap::loadFromSimpleMap" ref="aedf155237d3fe3d595994b9659a4e688" args="(const CSimpleMap &Map)" -->
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<td class="memname">void mrpt::slam::CMetricMap::loadFromSimpleMap </td>
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<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>
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<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="adc50d9b64f4850cdbd5991bdb5f05e75"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan" ref="adc50d9b64f4850cdbd5991bdb5f05e75" args="(const CObservation2DRangeScan &obs, const CPose3D *robotPose=NULL, unsigned int downSampleFactor=1)" -->
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<td class="memname">void mrpt::slam::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">CObservation2DRangeScan</a> & </td>
<td class="paramname"><em>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 class="paramtype">unsigned int </td>
<td class="paramname"><em>downSampleFactor</em> = <code>1</code> </td>
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<p>Loads into this landmarks-map a set of occupancy features according to a 2D range scan (Previous contents of map will be erased) </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 robot pose in the map (Default = the origin) Some options may be applicable from "insertionOptions" </td></tr>
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</dd>
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<a class="anchor" id="a99582ffa336687ce26c99212114ad35b"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::loadSiftFeaturesFromImageObservation" ref="a99582ffa336687ce26c99212114ad35b" args="(const CObservationImage &obs, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))" -->
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<td class="paramname"><em>obs</em>, </td>
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<td class="paramname"><em>feat_options</em> = <code><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a>(mrpt::vision::featSIFT)</code> </td>
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<p>Loads into this landmarks map the SIFT features extracted from an image observation (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. </p>
<p>Some options may be applicable from "insertionOptions" (insertionOptions.SIFTsLoadDistanceOfTheMean)</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">feat_options</td><td>Optionally, you can pass here parameters for changing the default SIFT detector settings. </td></tr>
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<a class="anchor" id="ae8c0a0964dc2d20e6f6f3832d805fb00"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation" ref="ae8c0a0964dc2d20e6f6f3832d805fb00" args="(const CObservationStereoImages &obs, mrpt::slam::CLandmark::TLandmarkID fID, const mrpt::vision::CFeatureExtraction::TOptions &feat_options=mrpt::vision::CFeatureExtraction::TOptions(mrpt::vision::featSIFT))" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> </td>
<td class="paramname"><em>fID</em>, </td>
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<td class="paramname"><em>feat_options</em> = <code><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a>(mrpt::vision::featSIFT)</code> </td>
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<p>Loads into this landmarks map the SIFT features extracted from an observation consisting of a pair of stereo-image (Previous contents of map will be erased) The robot is assumed to be at the origin of the map. </p>
<p>Some options may be applicable from "insertionOptions"</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">feat_options</td><td>Optionally, you can pass here parameters for changing the default SIFT detector settings. </td></tr>
</table>
</dd>
</dl>
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<a class="anchor" id="a0c384e00c06199bc2ff37ff5ecb520c9"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::publishEvent" ref="a0c384e00c06199bc2ff37ff5ecb520c9" args="(const mrptEvent &e) const " -->
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<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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<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>
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<td class="paramname"><em>version</em> </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="aaa36737baa422bf3efc4958a85dcc6fc"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::saveMetricMapRepresentationToFile" ref="aaa36737baa422bf3efc4958a85dcc6fc" args="(const std::string &filNamePrefix) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::saveMetricMapRepresentationToFile </td>
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<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>
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<p>This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). </p>
<p>In the case of this class, these files are generated:</p>
<ul>
<li>"filNamePrefix"+"_3D.m": A script for MATLAB for drawing landmarks as 3D ellipses.</li>
<li>"filNamePrefix"+"_3D.3DScene": A 3D scene with a "ground plane grid" and the set of ellipsoids in 3D. </li>
</ul>
<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="a5c2e6012bb95017cd62fa7f9de228470"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::saveToMATLABScript2D" ref="a5c2e6012bb95017cd62fa7f9de228470" args="(std::string file, const char *style="b", float stdCount=2.0f)" -->
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<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> </td>
<td class="paramname"><em>file</em>, </td>
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<td class="paramname"><em>style</em> = <code>"b"</code>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>stdCount</em> = <code>2.0f</code> </td>
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<p>Save to a MATLAB script which displays 2D error ellipses for the map (top-view, projection on the XY plane). </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">file</td><td>The name of the file to save the script to. </td></tr>
<tr><td class="paramname">style</td><td>The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities) </td></tr>
<tr><td class="paramname">stdCount</td><td>The ellipsoids will be drawn from the center to "stdCount" times the "standard deviations". (default is 2std = 95% confidence intervals)</td></tr>
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<dl class="return"><dt><b>Returns:</b></dt><dd>Returns false if any error occured, true elsewere. </dd></dl>
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<a class="anchor" id="a5043597fe0351ff24d499035a4fc907e"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::saveToMATLABScript3D" ref="a5043597fe0351ff24d499035a4fc907e" args="(std::string file, const char *style="b", float confInterval=0.95f) const " -->
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<p>Save to a MATLAB script which displays 3D error ellipses for the map. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">file</td><td>The name of the file to save the script to. </td></tr>
<tr><td class="paramname">style</td><td>The MATLAB-like string for the style of the lines (see 'help plot' in MATLAB for posibilities) </td></tr>
<tr><td class="paramname">stdCount</td><td>The ellipsoids will be drawn from the center to a given confidence interval in [0,1], e.g. 2 sigmas=0.95 (default is 2std = 0.95 confidence intervals)</td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>Returns false if any error occured, true elsewere. </dd></dl>
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<a class="anchor" id="ad7e91ccd233e610a748c2438715e1b62"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::saveToTextFile" ref="ad7e91ccd233e610a748c2438715e1b62" args="(std::string file)" -->
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<td class="paramtype"><a class="el" href="classstd_1_1string.html">std::string</a> </td>
<td class="paramname"><em>file</em></td><td>)</td>
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<p>Save to a text file. </p>
<p>In line "i" there are the (x,y,z) mean values of the i'th landmark + type of landmark + # times seen + timestamp + RGB/descriptor + ID</p>
<p>Returns false if any error occured, true elsewere. </p>
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<a class="anchor" id="a27bce6a4ab09791a50b009fd96dc98c4"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::simulateBeaconReadings" ref="a27bce6a4ab09791a50b009fd96dc98c4" args="(const CPose3D &in_robotPose, const CPoint3D &in_sensorLocationOnRobot, CObservationBeaconRanges &out_Observations) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::simulateBeaconReadings </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>in_robotPose</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_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>in_sensorLocationOnRobot</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html">CObservationBeaconRanges</a> & </td>
<td class="paramname"><em>out_Observations</em> </td>
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<p>Simulates a noisy reading toward each of the beacons in the landmarks map, if any. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in_robotPose</td><td>This robot pose is used to simulate the ranges to each beacon. </td></tr>
<tr><td class="paramname">in_sensorLocationOnRobot</td><td>The 3D position of the sensor on the robot </td></tr>
<tr><td class="paramname">out_Observations</td><td>The results will be stored here. NOTICE that the fields "CObservationBeaconRanges::minSensorDistance","CObservationBeaconRanges::maxSensorDistance" and "CObservationBeaconRanges::stdError" MUST BE FILLED OUT before calling this function. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range. </td></tr>
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<a class="anchor" id="a46f159bb017345af43d1f8c1e41d7270"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::simulateRangeBearingReadings" ref="a46f159bb017345af43d1f8c1e41d7270" args="(const CPose3D &robotPose, const CPose3D &sensorLocationOnRobot, CObservationBearingRange &observations, bool sensorDetectsIDs=true, const float stdRange=0.01f, const float stdYaw=DEG2RAD(0.1f), const float stdPitch=DEG2RAD(0.1f), vector_size_t *real_associations=NULL, const double spurious_count_mean=0, const double spurious_count_std=0) const " -->
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<td class="paramname"><em>sensorLocationOnRobot</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> & </td>
<td class="paramname"><em>observations</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>sensorDetectsIDs</em> = <code>true</code>, </td>
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<td class="paramtype">const float </td>
<td class="paramname"><em>stdRange</em> = <code>0.01f</code>, </td>
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<td></td>
<td class="paramtype">const float </td>
<td class="paramname"><em>stdYaw</em> = <code>DEG2RAD(0.1f)</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float </td>
<td class="paramname"><em>stdPitch</em> = <code>DEG2RAD(0.1f)</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#ad4d2b1efd37ed750302c76ebbcfc310d">vector_size_t</a> * </td>
<td class="paramname"><em>real_associations</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>spurious_count_mean</em> = <code>0</code>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>spurious_count_std</em> = <code>0</code> </td>
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<td></td>
<td>)</td>
<td></td><td> const</td>
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<p>Simulates a noisy bearing-range observation of all the beacons (landamrks with type glBeacon) in the landmarks map, if any. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">robotPose</td><td>The robot pose. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">sensorLocationOnRobot</td><td>The 3D position of the sensor on the robot </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">observations</td><td>The results will be stored here. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">sensorDetectsIDs</td><td>If this is set to false, all the landmarks will be sensed with INVALID_LANDMARK_ID as ID. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">stdRange</td><td>The sigma of the sensor noise in range (meters). </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">stdYaw</td><td>The sigma of the sensor noise in yaw (radians). </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">stdPitch</td><td>The sigma of the sensor noise in pitch (radians). </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">real_associations</td><td>If it's not a NULL pointer, this will contain at the return the real indices of the landmarks in the map in the same order than they appear in out_Observations. Useful when sensorDetectsIDs=false. Spurious readings are assigned a std::string::npos (=-1) index. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">spurious_count_mean</td><td>The mean number of spurious measurements (uniformly distributed in range & angle) to generate. The number of spurious is generated by rounding a random Gaussin number. If both this mean and the std are zero (the default) no spurious readings are generated. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">spurious_count_std</td><td>Read spurious_count_mean above.</td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>The fields "CObservationBearingRange::fieldOfView_*","CObservationBearingRange::maxSensorDistance" and "CObservationBearingRange::minSensorDistance" MUST BE FILLED OUT before calling this function. </dd>
<dd>
At output, the observation will have <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#aa04b4729509318c0774a74081f48e7f1" title="True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...">CObservationBearingRange::validCovariances</a> set to "false" and the 3 sensor_std_* members correctly set to their values. An observation will be generated for each beacon in the map, but notice that some of them may be missed if out of the sensor maximum range or field of view- </dd></dl>
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<a class="anchor" id="a36f9e28d3f98e252e9c8265a775a3d43"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::size" ref="a36f9e28d3f98e252e9c8265a775a3d43" args="() const " -->
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<p>Returns the stored landmarks count. </p>
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<a class="anchor" id="ae6235efcb6d5da8e9db1ad6ccfb8225c"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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>
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<td class="paramtype">const float & </td>
<td class="paramname"><em>y0</em> </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::CLandmarksMap::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>
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<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>
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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>
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<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>
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</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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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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>
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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="a96a8d85d6b29e753c8aa02853a2a0bb1"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::_init_CLandmarksMap" ref="a96a8d85d6b29e753c8aa02853a2a0bb1" 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_landmarks_map.html#a96a8d85d6b29e753c8aa02853a2a0bb1">mrpt::slam::CLandmarksMap::_init_CLandmarksMap</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00085">85</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ae9ac8e48f336e11dae14770b9348c30a">mrpt::slam::CLandmarksMap::_mapMaxID</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00185">185</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="ab7e0c7d75843806aaa90a29d9d372a0f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::_maxIDUpdated" ref="ab7e0c7d75843806aaa90a29d9d372a0f" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ab7e0c7d75843806aaa90a29d9d372a0f">mrpt::slam::CLandmarksMap::_maxIDUpdated</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00186">186</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a2ce793f40b47fae3855a944727eecc6d"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::_mEDD" ref="a2ce793f40b47fae3855a944727eecc6d" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1map.html">std::map</a><std::pair<<a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a7d42fbd58a31278cb344b78ce8af3cf9">mrpt::slam::CLandmark::TLandmarkID</a>>, double> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a2ce793f40b47fae3855a944727eecc6d">mrpt::slam::CLandmarksMap::_mEDD</a><code> [static]</code></td>
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<p>Map of the Euclidean Distance between the descriptors of two SIFT-based landmarks. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00184">184</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a071a29e6ddbc5d0d18cdaa09700dd5a8"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::classCLandmarksMap" ref="a071a29e6ddbc5d0d18cdaa09700dd5a8" 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_landmarks_map.html#a071a29e6ddbc5d0d18cdaa09700dd5a8">mrpt::slam::CLandmarksMap::classCLandmarksMap</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00085">85</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a1cbb8630027acc3d6d227fa7d78c724f"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<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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<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="acdacdb286656906e8600af5fa7d6fe3c"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::classinfo" ref="acdacdb286656906e8600af5fa7d6fe3c" 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_landmarks_map.html#acdacdb286656906e8600af5fa7d6fe3c">mrpt::slam::CLandmarksMap::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00085">85</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_colorf.html">mrpt::utils::TColorf</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a8ffcbfa68adf79f56c4d00e4157ebf55">mrpt::slam::CLandmarksMap::COLOR_LANDMARKS_IN_3DSCENES</a><code> [static]</code></td>
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<p>The color of landmark ellipsoids in <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a3da069a47977f0d9e0c5755a4f785044" title="Returns a 3D object representing the map.">CLandmarksMap::getAs3DObject</a>. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00102">102</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname">struct VISION_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_fuse_options.html">mrpt::slam::CLandmarksMap::TFuseOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a47c295ea68e88e9c5d067c91ff80fdd1">mrpt::slam::CLandmarksMap::fuseOptions</a></td>
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<a class="anchor" id="ad91970cef3d85aa5c83fd848776cef34"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::insertionOptions" ref="ad91970cef3d85aa5c83fd848776cef34" args="" -->
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_options.html">mrpt::slam::CLandmarksMap::TInsertionOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ad91970cef3d85aa5c83fd848776cef34">mrpt::slam::CLandmarksMap::insertionOptions</a></td>
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<a class="anchor" id="a1c6ab87ec1fab5b221ba33db50445653"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::insertionResults" ref="a1c6ab87ec1fab5b221ba33db50445653" args="" -->
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<td class="memname">struct VISION_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_insertion_results.html">mrpt::slam::CLandmarksMap::TInsertionResults</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a1c6ab87ec1fab5b221ba33db50445653">mrpt::slam::CLandmarksMap::insertionResults</a></td>
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<td class="memname">struct VISION_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_custom_sequence_landmarks.html">mrpt::slam::CLandmarksMap::TCustomSequenceLandmarks</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a9d722a101559b8f25bfe251eb43afee3">mrpt::slam::CLandmarksMap::landmarks</a></td>
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html">mrpt::slam::CLandmarksMap::TLikelihoodOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#abdfc84a36d90df2ec598dfad9db275b7">mrpt::slam::CLandmarksMap::likelihoodOptions</a></td>
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<a class="anchor" id="a2b50a8c61d853cc452b82d58756e9603"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::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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<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>
