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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::CMetricMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CMetricMap" --><!-- doxytag: inherits="mrpt::utils::CSerializable,mrpt::utils::CObservable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Declares a virtual base class for all metric maps storage classes. </p>
<p>In this class virtual methods are provided to allow the insertion of any type of "CObservation" objects into the metric map, thus updating the map (doesn't matter if it is a 2D/3D grid or a points map). <b>IMPORTANT</b>: Observations doesn't include any information about the robot pose beliefs, just the raw observation and information about the sensor pose relative to the robot mobile base coordinates origin.</p>
<p>Note that all metric maps implement this <a class="el" 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...">mrpt::utils::CObservable</a> interface, emitting the following events:</p>
<ul>
<li><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_clear.html" title="Event emitted by a metric up upon call of clear()">mrpt::slam::mrptEventMetricMapClear</a>: Upon call of the ::clear() method.</li>
</ul>
<p><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_insert.html" title="Event emitted by a metric up upon a succesful call to insertObservation()">mrpt::slam::mrptEventMetricMapInsert</a>: Upon insertion of an observation that effectively modifies the map (e.g. inserting an image into a grid map will NOT raise an event, inserting a laser scan will).</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</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>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">CMultiMetricMap</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_metric_map_8h_source.html">mrpt/slam/CMetricMap.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CMetricMap:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_metric_map__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_metric_map_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_metric_map_inherit__map" id="mrpt_1_1slam_1_1_c_metric_map_inherit__map">
<area shape="rect" id="node9" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM)." alt="" coords="651,5,821,32"/><area shape="rect" id="node11" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html" title="A mesh representation of a surface which keeps the estimated height for each (x,y) location..." alt="" coords="633,56,839,83"/><area shape="rect" id="node13" href="classmrpt_1_1slam_1_1_c_landmarks_map.html" title="A class for storing a map of 3D probabilistic landmarks." alt="" coords="641,107,831,133"/><area shape="rect" id="node15" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps." alt="" coords="641,157,831,184"/><area shape="rect" id="node17" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html" title="A class for storing an occupancy grid map." alt="" coords="619,208,853,235"/><area shape="rect" id="node19" href="classmrpt_1_1slam_1_1_c_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors..." alt="" coords="654,259,818,285"/><area shape="rect" id="node27" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property..." alt="" coords="613,309,859,336"/><area shape="rect" id="node33" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html" title="A 2D grid map representing the reflectivity of the environment (for example, measured with an IR prox..." alt="" coords="619,360,853,387"/><area shape="rect" id="node2" 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="189,157,355,184"/><area shape="rect" id="node4" 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="5,157,141,184"/><area shape="rect" id="node6" 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="190,208,354,235"/><area shape="rect" id="node21" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html" title="A map of 2D/3D points with individual colours (RGB)." alt="" coords="936,157,1152,184"/><area shape="rect" id="node23" href="classmrpt_1_1slam_1_1_c_simple_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans." alt="" coords="942,208,1146,235"/><area shape="rect" id="node25" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans." alt="" coords="935,259,1153,285"/><area shape="rect" id="node29" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html" title="CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area." alt="" coords="907,309,1181,336"/><area shape="rect" id="node31" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area." alt="" coords="916,360,1172,387"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_metric_map-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">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">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ab4243c534f004d3397c82f5b5e7d46a8">isEmpty</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns true if the map is empty/no observation has been inserted. <a href="#ab4243c534f004d3397c82f5b5e7d46a8"></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">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad5cefa1e3e6efb0cff473a32c5ed6009">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)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. <a href="#ad5cefa1e3e6efb0cff473a32c5ed6009"></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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ab780251ef9a6842a56f4a5cdb0743bc0">CMetricMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ab780251ef9a6842a56f4a5cdb0743bc0"></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_metric_map.html#a8bc8c4f99dfb405c025e6af4050e3416">~CMetricMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a8bc8c4f99dfb405c025e6af4050e3416"></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#a8d59f040a850470da57f3294e346e69b">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 =0</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="#a8d59f040a850470da57f3294e346e69b"></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#ae53f6697d660d43ebaaf8621945ebef0">saveMetricMapRepresentationToFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filNamePrefix) const =0</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="#ae53f6697d660d43ebaaf8621945ebef0"></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#aca6f34ceb20942667a67cdd5723f87df">getAs3DObject</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D object representing the map. <a href="#aca6f34ceb20942667a67cdd5723f87df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aabd4d4be402cdd01bc8db467f214516a">auxParticleFilterCleanUp</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". <a href="#aabd4d4be402cdd01bc8db467f214516a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ae6235efcb6d5da8e9db1ad6ccfb8225c">squareDistanceToClosestCorrespondence</a> (const float &x0, const float &y0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. <a href="#ae6235efcb6d5da8e9db1ad6ccfb8225c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ae7b0688c0e2c0d75554e22b739649463">getAsSimplePointsMap</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it. <a href="#ae7b0688c0e2c0d75554e22b739649463"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html">CSimplePointsMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ace4e7cc2a2f070d556c5074117a3aa2f">getAsSimplePointsMap</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <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#aa1070e173c5f7e307b09c53f1fd256e2">duplicate</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#aa1070e173c5f7e307b09c53f1fd256e2"></a><br/></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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a2b50a8c61d853cc452b82d58756e9603">m_disableSaveAs3DObject</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">When set to true (default=false), calling "getAs3DObject" will have no effects. <a href="#a2b50a8c61d853cc452b82d58756e9603"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_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_metric_map.html#a9c19a7f400d7edb087a81e28cafb39d1">internal_clear</a> ()=0</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="#a9c19a7f400d7edb087a81e28cafb39d1"></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#a75f844879662ac04588a1eda33432a77">OnPostSuccesfulInsertObs</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> *)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Hook for each time a "internal_insertObservation" returns "true" This is called automatically from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation()</a> when internal_insertObservation returns true. <a href="#a75f844879662ac04588a1eda33432a77"></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#aab88fec1ad02cceaaaf74c02d4e6f68a">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)=0</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#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation()</a> <a href="#aab88fec1ad02cceaaaf74c02d4e6f68a"></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 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#afc58cfbfb2beb973ccade2e8921fad90">_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_metric_map.html#a7ae0fed73fe1304f4fbb196bb3fe3400">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="#a7ae0fed73fe1304f4fbb196bb3fe3400"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ab780251ef9a6842a56f4a5cdb0743bc0"></a><!-- doxytag: member="mrpt::slam::CMetricMap::CMetricMap" ref="ab780251ef9a6842a56f4a5cdb0743bc0" args="()" -->
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<td class="memname">mrpt::slam::CMetricMap::CMetricMap </td>
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<p>Constructor. </p>
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<a class="anchor" id="a8bc8c4f99dfb405c025e6af4050e3416"></a><!-- doxytag: member="mrpt::slam::CMetricMap::~CMetricMap" ref="a8bc8c4f99dfb405c025e6af4050e3416" args="()" -->
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<td class="memname">virtual mrpt::slam::CMetricMap::~CMetricMap </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="afc58cfbfb2beb973ccade2e8921fad90"></a><!-- doxytag: member="mrpt::slam::CMetricMap::_GetBaseClass" ref="afc58cfbfb2beb973ccade2e8921fad90" 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::CMetricMap::_GetBaseClass </td>
<td>(</td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a0260e37a29c05698555e5df1b616d3d5">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a9305db316250b6bd5edce8ab64f73487">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a555a6cb87decc915e5e953ecc408e2bd">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a6d92c6e8161894485da8f966a94eeb85">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aa6ba780484bba068796c4195ad10392b">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#ae285bbb6ee3cda7dd7316f75b98cb861">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ab9c67ed50f5c62710f5adb48e26cf341">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a64bdad23896ee11a7a0a8d9ad0092e3f">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#ad3263515cb5be0f5cd14497bb3f5fb3d">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ad3ac88547ae3e6abaf68aced49ebeb89">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aa12678534542e81a66ea72ff84cd237e">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a9ad2d0be295a634f49f6dd9aab32962e">mrpt::slam::CSimplePointsMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#a6d7cba32f67207ad869bad4066c09aa0">mrpt::slam::CWeightedPointsMap</a>.</p>
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<a class="anchor" id="aabd4d4be402cdd01bc8db467f214516a"></a><!-- doxytag: member="mrpt::slam::CMetricMap::auxParticleFilterCleanUp" ref="aabd4d4be402cdd01bc8db467f214516a" args="()" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::auxParticleFilterCleanUp </td>
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<td><code> [inline, virtual]</code></td>
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<p>This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". </p>
<p>This method should normally do nothing, but in some cases can be used to free auxiliary cached variables. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a20f3250d3a6b02030ab58cfa7e544529">mrpt::slam::CLandmarksMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a67dc96e1d740138fa14ca93537fdbdcd">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00326">326</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="a8936d61e45446a74633d00a7ce6b4603"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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>
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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>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad5cefa1e3e6efb0cff473a32c5ed6009" title="Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.">computeObservationLikelihood</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a614e663954432e3ebe8d0a6e7cc37e2b">mrpt::slam::COccupancyGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#add146361dd182988749657d9970a0abb">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00184">184</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<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="afe18b3eac9b4ff07b674e0eb74652f5b"></a><!-- doxytag: member="mrpt::slam::CMetricMap::clear" ref="afe18b3eac9b4ff07b674e0eb74652f5b" args="()" -->
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<td class="memname">void mrpt::slam::CMetricMap::clear </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::CMetricMap::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="a8d59f040a850470da57f3294e346e69b"></a><!-- doxytag: member="mrpt::slam::CMetricMap::compute3DMatchingRatio" ref="a8d59f040a850470da57f3294e346e69b" args="(const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const =0" -->
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<td class="memname">virtual float mrpt::slam::CMetricMap::compute3DMatchingRatio </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>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>otherMapPose</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>minDistForCorr</em> = <code>0.10f</code>, </td>
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<td class="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>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The matching ratio [0,1] </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#aa684de52360d687fb0ee30790f430574" title="Computes the matchings between this and another 2D points map.">computeMatchingWith2D</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a5bc762e11e7d37526be13fec909165aa">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#af8c51def1d9b4f24dfdc77f0701c38e6">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a19266374fb135c20f7ceffdfea3f4587">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#acf4c103e5db2f06ec814645f728f6ce2">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ab97e7f011d8b72951725669d770af58e">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#abfdd102e0354f515c584e65aa3b6845b">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#adbb6d76531f715ce324ff8e8ed95b116">mrpt::slam::CBeaconMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a1504c7a7a91b44a09983d88ed7e4d42d">mrpt::slam::CReflectivityGridMap2D</a>.</p>
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<a class="anchor" id="aa684de52360d687fb0ee30790f430574"></a><!-- doxytag: member="mrpt::slam::CMetricMap::computeMatchingWith2D" ref="aa684de52360d687fb0ee30790f430574" args="(const CMetricMap *otherMap, const CPose2D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPose2D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const " -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::computeMatchingWith2D </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>otherMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>otherMapPose</em>, </td>
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<td class="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="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>onlyKeepTheClosest</em> = <code>true</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>onlyUniqueRobust</em> = <code>false</code>, </td>
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<td class="paramtype">const size_t </td>
<td class="paramname"><em>decimation_other_map_points</em> = <code>1</code>, </td>
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<td class="paramtype">const size_t </td>
<td class="paramname"><em>offset_other_map_points</em> = <code>0</code> </td>
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<p>Computes the matchings between this and another 2D points map. </p>
<p>This includes finding:</p>
<ul>
<li>The set of points pairs in each map</li>
<li>The mean squared distance between corresponding pairs. This method is the most time critical one into the ICP algorithm.</li>
</ul>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">otherMap</td><td>[IN] The other map to compute the matching with. </td></tr>
<tr><td class="paramname">otherMapPose</td><td>[IN] The pose of the other map as seen from "this". </td></tr>
<tr><td class="paramname">maxDistForCorrespondence</td><td>[IN] Maximum 2D linear distance between two points to be matched. </td></tr>
<tr><td class="paramname">maxAngularDistForCorrespondence</td><td>[IN] In radians: The aim is to allow larger distances to more distant correspondences. </td></tr>
<tr><td class="paramname">angularDistPivotPoint</td><td>[IN] The point used to calculate distances from in both maps. </td></tr>
<tr><td class="paramname">correspondences</td><td>[OUT] The detected matchings pairs. </td></tr>
<tr><td class="paramname">correspondencesRatio</td><td>[OUT] The ratio [0,1] of points in otherMap with at least one correspondence. </td></tr>
<tr><td class="paramname">sumSqrDist</td><td>[OUT] The sum of all matched points squared distances.If undesired, set to NULL, as default. </td></tr>
<tr><td class="paramname">onlyKeepTheClosest</td><td>[IN] If set to true, only the closest correspondence will be returned. If false (default) all are returned.</td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a8d59f040a850470da57f3294e346e69b" title="Computes the ratio in [0,1] of correspondences between "this" and the "otherMap" map, whose 6D pose relative to "this" is "otherMapPose" In the case of a multi-metric map, this returns the average between the maps.">compute3DMatchingRatio</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a6329f217aeb92bb0ad787102aff24bdc">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a396aa18fe072aec193268cdc4875daee">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a0a503ad4e15e0dbba66ba684eb250b43">mrpt::slam::CBeaconMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#ad234f67c0a6e6b2a155556dc1833ebfa">mrpt::slam::CMultiMetricMap</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00236">236</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a7aafbdbb3f2cb17e14e1af9997c3fa48"></a><!-- doxytag: member="mrpt::slam::CMetricMap::computeMatchingWith3D" ref="a7aafbdbb3f2cb17e14e1af9997c3fa48" args="(const CMetricMap *otherMap, const CPose3D &otherMapPose, float maxDistForCorrespondence, float maxAngularDistForCorrespondence, const CPoint3D &angularDistPivotPoint, TMatchingPairList &correspondences, float &correspondencesRatio, float *sumSqrDist=NULL, bool onlyKeepTheClosest=true, bool onlyUniqueRobust=false, const size_t decimation_other_map_points=1, const size_t offset_other_map_points=0) const " -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::computeMatchingWith3D </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">CMetricMap</a> * </td>
<td class="paramname"><em>otherMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>otherMapPose</em>, </td>
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<td class="paramname"><em>maxDistForCorrespondence</em>, </td>
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<td class="paramname"><em>maxAngularDistForCorrespondence</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>angularDistPivotPoint</em>, </td>
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<td 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="paramname"><em>onlyKeepTheClosest</em> = <code>true</code>, </td>
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<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>
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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#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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<td class="memname">virtual double mrpt::slam::CMetricMap::computeObservationLikelihood </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 log-likelihood of a given observation given an arbitrary robot 3D 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>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#af42355207136d9c7bd4fef8fd82735df">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a4f61bafb85ddf17eb783d8d4abb46c18">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#aabed5d111907270ef896b2588a8bfbb8">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a7d00a85d2ba0979a7137931641d8d736">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#adc874455480f0825aa90394394cbc5ed">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a88f9fa6f7798f492e6a77ee82e5fb2d0">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a427df8d1170f71e8cbcaf4ccb4c6b2b4">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#ac3e181c7e6f8ad2b2347d9704813e87e">mrpt::slam::CWirelessPowerGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#af8dcebb36adf37bca86048b8b566a44a">mrpt::slam::CGasConcentrationGridMap2D</a>.</p>
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<a class="anchor" id="a6adfc3df476a7edafaca40444d8dad04"></a><!-- doxytag: member="mrpt::slam::CMetricMap::computeObservationLikelihood" ref="a6adfc3df476a7edafaca40444d8dad04" args="(const CObservation *obs, const CPose2D &takenFrom)" -->
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<td class="memname">double mrpt::slam::CMetricMap::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_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>takenFrom</em> </td>
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<p>Computes the log-likelihood of a given observation given an arbitrary robot 2D pose. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">takenFrom</td><td>The robot's pose the observation is supposed to be taken from. </td></tr>
<tr><td class="paramname">obs</td><td>The observation. </td></tr>
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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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<a class="anchor" id="a8184371fde28bc35a9ec461240b83b43"></a><!-- doxytag: member="mrpt::slam::CMetricMap::computeObservationsLikelihood" ref="a8184371fde28bc35a9ec461240b83b43" args="(const CSensoryFrame &sf, const CPose2D &takenFrom)" -->
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<td class="memname">double mrpt::slam::CMetricMap::computeObservationsLikelihood </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"><em>sf</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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="aa1070e173c5f7e307b09c53f1fd256e2"></a><!-- doxytag: member="mrpt::slam::CMetricMap::duplicate" ref="aa1070e173c5f7e307b09c53f1fd256e2" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::duplicate </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html#aa418a18b42f0cd0345f7f74254d3816a">mrpt::graphs::CNetworkOfPoses3DInf</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html#a3a4aefa2c8700d412e577aa67b38ef92">mrpt::graphs::CNetworkOfPoses2DInf</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_cov.html#a1e8073ae7f1eea303ff200be62a39dc8">mrpt::graphs::CNetworkOfPoses3DCov</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_cov.html#abdae8c21f63f137061ccb70cad7a00a4">mrpt::graphs::CNetworkOfPoses2DCov</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html#a322d25fb1e05935950f9a7667c8186db">mrpt::graphs::CNetworkOfPoses3D</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html#ac67931093925b89d8ffbf5940d53cba0">mrpt::graphs::CNetworkOfPoses2D</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ab6a8fbe4d003f10c364378c5105be2ef">mrpt::utils::TStereoCamera</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a3b657b853f3d81f1b85fe63ad90811a4">mrpt::reactivenav::CLogFileRecord_ND</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_simple_database.html#ac8261cd70c8ccbb5d6f0bcbe02f7b129">mrpt::utils::CSimpleDatabase</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html#aad2da5b6028c862896eeff130254b268">mrpt::utils::CImage</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#af14e72e5cb029e2b48ed085a269ec3d5">mrpt::detectors::CDetectable3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#a0e414505f603f461879a817e628fd847">mrpt::slam::CObservation3DRangeScan</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html#a91551aa5c70ca76a79009d152dd85132">mrpt::hmtslam::THypothesisIDSet</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a5e90b6efdf7c8646c43619f805d1447d">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#aaf8fcfb1dc4c86b88c86aec138a11072">mrpt::hmtslam::CHMTSLAM</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ac78d9a44f581338715379d0cd17e2fd1">mrpt::hmtslam::CLocalMetricHypothesis</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window3_d.html#af1330a1e443ddb156f55966a204404d3">mrpt::gui::CDisplayWindow3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a197c2c0f0bd6b6b6cd82eb4b78b99e0d">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#addc93579b7a501a8486ed8178e1b1163">mrpt::slam::CObservationIMU</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#af9bb29381a79d37c8e48319e99b79506">mrpt::slam::CMultiMetricMapPDF</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a2092c4cab9d1062f66449832e970d427">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a43eac0701c624df4976a459ab0ed5f9a">mrpt::vision::CFeature</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a40bb0f23493a06d109b9857882e73cc9">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html#a73cf5cd5a1118c882a75f7b489b4c260">mrpt::slam::CRawlog</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a42ae7a4409660ed30a889f4d293c7cbb">mrpt::slam::CSensoryFrame</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html#ad10511d0f2da9bd690a92bf8b80bffaa">mrpt::poses::CPose3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html#a8752d16a6e4ee043b88101c9850f4099">mrpt::slam::CObservation2DRangeScan</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a7f571259a8c4934b39b51c1810c6953d">mrpt::poses::CPointPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html#a6e0706f9975f7f26b3d8096c4b93604d">mrpt::poses::CPose3DInterpolator</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_viewport.html#af57c300ecbd7c559a9d93fd0614d8f37">mrpt::opengl::COpenGLViewport</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ac96c1b225716e20ed93e20962bf029be">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a738ccf6288f6b32ebe7d1c580967223a">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html#aa32623b7b721c6c827dccf8418e29dc1">mrpt::hmtslam::CLSLAMParticleData</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aee94205aa8bf0fa4465036031a062fc0">mrpt::opengl::CPointCloud</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a1ae410e57a6919e6007f6b33b12d9bf9">mrpt::detectors::CDetectable2D</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a9b3a8da932f784bb49c32e49dcda3b96">mrpt::opengl::COpenGLScene</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_point_cloud_coloured.html#a5f42667250317195e9a1f5b280797d1b">mrpt::opengl::CPointCloudColoured</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#aa929ee8c57cd51dc5642a605aa70bfbd">mrpt::math::CMatrixD</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_m_h_properties_values_list.html#aa96c50b8298d9986b7e38df79cefd526">mrpt::utils::CMHPropertiesValuesList</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_planar_laser_scan.html#a174be00acf923c26a2a5933ffe750f6b">mrpt::opengl::CPlanarLaserScan</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#a446665d934bb68fc8582f33bff9d92b8">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#abb628a6fcb83bb9803bb4f72dffe1f1c">mrpt::slam::CObservationStereoImages</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a4fb51439298d885903af7000d353f46b">mrpt::math::CMatrix</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a7304e3b9362d80754232877aacdaa808">mrpt::poses::CPose3DPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html#a9c680e7f88f85b165e8f806fd02d4a56">mrpt::poses::CPose3DQuat</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#acf667fcb7d982bf6dce0a4616136c262">mrpt::hmtslam::CHMHMapNode</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8c5aa5059603c4457fef60eb8fdb1ecf">mrpt::slam::CBeacon</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_text3_d.html#aaa3a55f9b83404ad3842cd764060683d">mrpt::opengl::CText3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html#aba4a19c73ed95546f0fcb16eb057f18e">mrpt::slam::CObservationStereoImagesFeatures</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_ellipsoid.html#a3650d34de6b1f5019fe777978c02cafb">mrpt::opengl::CEllipsoid</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a75becf8cf9a5879930d55afddada8e8a">mrpt::slam::CLandmark</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#ad33b8d9da7a6f510520c342cb1ba81bd">mrpt::poses::CPose3DQuatPDFGaussian</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html#aadda9db6b2b0928164ad50e8cd11eaee">mrpt::hmtslam::CRobotPosesGraph</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_mesh.html#a5d7468f17d7679ab2f620e1e200e3806">mrpt::opengl::CMesh</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a7cf711985eb19c122259fb73e57ac79b">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ab76de1691de9b7eeb0aa79308743b3b1">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window_plots.html#aa6f1cf193c3bf6a2313b53951346e782">mrpt::gui::CDisplayWindowPlots</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a2291a08ea655179c09a95a7c2bd1795d">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html#a3faac43a2aa3cc2cb83009dea36fb091">mrpt::slam::CObservationImage</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_lines.html#a310eb858ada8a9becd13c951c2d24bf8">mrpt::opengl::CSetOfLines</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_text.html#a3687a19a0da6211642fea5da8c3a8ec4">mrpt::opengl::CText</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a9b27d9967b815ee3940c15de195a36e2">mrpt::poses::CPose3DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html#a9bd19644e5dbc753f2fbb5f6aaa973aa">mrpt::poses::CPose3DPDFGaussianInf</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html#a3d86e457d12686c0cfcc43ad82428799">mrpt::hmtslam::CHMHMapArc</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_polyhedron.html#a511f6a7e6cc8e6744bc0373174c7427d">mrpt::opengl::CPolyhedron</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a7846f251ee6c4a06823a9e317efe9425">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a27438440f4020af9344d231faccc753f">mrpt::hmtslam::CHierarchicalMHMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_angular_observation_mesh.html#a18b235563a3fc738b91a6e6e53a9015f">mrpt::opengl::CAngularObservationMesh</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aa9464b5162eb23c17d9e8cfb261d05a7">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a31d7ca9b000e8f07a79929e591343d86">mrpt::slam::CIncrementalMapPartitioner</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a5bcc1c02aed4050434ed55b74f2ff650">mrpt::slam::CRBPFParticleData</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html#a0bf70b9de6ac93f51598aac53e2003d3">mrpt::poses::CPoint2D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html#a49ae926af8ad565263ce3cfbfac678a0">mrpt::poses::CPointPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a7bfbc310c6895373d2a861c32a7e9a42">mrpt::poses::CPose2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ade98e5012f143f773dca038ebedaf414">mrpt::slam::CSimplePointsMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_disk.html#ac24e8aff817cff149884379a9f2bc8f3">mrpt::opengl::CDisk</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7b52c011ee07d664d4fb68e8a8aadbcd">mrpt::opengl::CSetOfObjects</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a446f3aa07c01e02a3e6b217cf5add70a">mrpt::poses::CPose3DPDFSOG</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html#ae3614449388ba0d04ada82669bec0737">mrpt::utils::TCamera</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#a7e8d6d2fb451afbde43e9ac7221ddc9b">mrpt::slam::CActionRobotMovement2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a2cb06e193f5eb42aa2a831020d95afff">mrpt::slam::CObservationBatteryState</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_grid_plane_x_y.html#abbd3dfcf7b030079b2abfba5ea6444be">mrpt::opengl::CGridPlaneXY</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_grid_plane_x_z.html#aefe4896e131caf88278a5a716217332e">mrpt::opengl::CGridPlaneXZ</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html#a29bbab541ccead175735cb918d824df8">mrpt::poses::CPoint3D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a965e60ece7618520c2b8ca8fffd193a8">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a6d025252ed5f6b5f4e0a4e3ddc416b7f">mrpt::slam::CSimpleMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_arrow.html#a41cc3bf824b9cb780a3ab7cf192a3364">mrpt::opengl::CArrow</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_axis.html#ac25fb689167766f779d410e27ea1d49e">mrpt::opengl::CAxis</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_sphere.html#aa575a8579770705b353c529c2cb087fb">mrpt::opengl::CSphere</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#a0e0d2c095e57a26850f403067f8a57b9">mrpt::slam::CWeightedPointsMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_camera.html#a633a46c1730b7ab2a384894aaeb5a2b1">mrpt::opengl::CCamera</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ab2e0aecfd0e0b44f72034ccc3fbb9b31">mrpt::poses::CPosePDFGrid</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html#ac9a15d228b7367a12ca0b7eb4d83c6b5">mrpt::utils::CStringList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html#a05fd7949574d81da2ba09078098ecf30">mrpt::slam::CObservationOdometry</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_box.html#a8c9b11cb2c190d0e483139fa867b18c6">mrpt::opengl::CBox</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ad2a5d067f01067243281582300ec203b">mrpt::opengl::CSetOfTexturedTriangles</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_memory_chunk.html#a78bcb5c78c30e2ce9264f175992824e7">mrpt::utils::CMemoryChunk</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html#a407a76e436c9a8e8078894c35fdb5158">mrpt::slam::CActionCollection</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a55cbbc63858e0090c78510beec989412">mrpt::slam::CObservationGPS</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html#a99ebd8676c155b314f49dab5e3a76330">mrpt::slam::CObservationRange</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a04c05b92a6607524ea23b9e5b5ed8b09">mrpt::reactivenav::CLogFileRecord</a>, <a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a53aa9a1e2f53f277b9e1488e0c96b6c5">mrpt::math::CSplineInterpolator1D</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_properties_values_list.html#aa79cf430bc89538e7550ec20a10491e4">mrpt::utils::CPropertiesValuesList</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window.html#a5f25675c29fb9c67cabf4c6ca2162cf3">mrpt::gui::CDisplayWindow</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a2507aece9dce13c5f3bb9f5a190e096c">mrpt::slam::CObservationBearingRange</a>, <a class="el" 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href="classmrpt_1_1poses_1_1_c_poses3_d_sequence.html#a095af4ace78646a9fab689723fa00508">mrpt::poses::CPoses3DSequence</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_simple_database_table.html#a696a686e91fd5f7289706fd0bd6ddfc5">mrpt::utils::CSimpleDatabaseTable</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a16bc246dde9470e74a1033da69c9866e">mrpt::slam::CActionRobotMovement3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a23e787119a1f9bd94eb9b5690e0daccb">mrpt::slam::CObservationBeaconRanges</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_comment.html#a434bcdda2cc6f6c265ae62788adfd98a">mrpt::slam::CObservationComment</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_cylinder.html#a8e5b85adca444e64144ee6f3faf83114">mrpt::opengl::CCylinder</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#abbbbb3d087ed3ee7c2da39eac11ab95a">mrpt::opengl::CSetOfTriangles</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html#a17ef8a534a2149e36dc7b95fba49eae0">mrpt::slam::CObservationReflectivity</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_generalized_cylinder.html#a77bf22c0582d88b4faeb742d29b5c048">mrpt::opengl::CGeneralizedCylinder</a>, <a class="el" href="classmrpt_1_1math_1_1_c_polygon.html#a5e7e04d290bd0a8e5ea200c5c6161789">mrpt::math::CPolygon</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f_gaussian.html#ae3fd0af40f8db138878c9bec82d334cb">mrpt::poses::CPoint2DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_t_simple3_d_point.html#ad234b06eecf2225506f9095dd8e8a6d7">mrpt::poses::TSimple3DPoint</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_standard_object.html#a8988a84c557b3ca109ad0549abc5a146">mrpt::opengl::COpenGLStandardObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_simple_line.html#ad04236958bd785b246c4b128c0921fed">mrpt::opengl::CSimpleLine</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a85b062e19d9544cdc2aca554ef99c326">mrpt::opengl::CTexturedPlane</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_type_selector.html#ab43700d20fcedc8db931a39a061ef5a0">mrpt::utils::CTypeSelector</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f.html#af9583f931124d502e9c20d2786262b0e">mrpt::reactivenav::CLogFileRecord_VFF</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::slam::CMetricMap::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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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="aca6f34ceb20942667a67cdd5723f87df"></a><!-- doxytag: member="mrpt::slam::CMetricMap::getAs3DObject" ref="aca6f34ceb20942667a67cdd5723f87df" args="(mrpt::opengl::CSetOfObjectsPtr &outObj) const =0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::getAs3DObject </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> & </td>
<td class="paramname"><em>outObj</em></td><td>)</td>
<td> const<code> [pure virtual]</code></td>
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<p>Returns a 3D object representing the map. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a6edbcaa204f700a121570ffe42932df5">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a435da84d88e90c516be09d374b0032db">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a3da069a47977f0d9e0c5755a4f785044">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a3162baeb76667e996b444fc846cfdeca">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a0baaf568d6b1ecccbafd309241c91871">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a2fa4c22d128c7d97a2df7311b52fde71">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a7eb2acd0723e931c4121c3d8696fee88">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a2c1475d451da4cc42fadd71218f340e3">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a177005c1208400e8b4ea38733979ef2e">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a9080e3b407de76fe81bdd9b82447f701">mrpt::slam::CGasConcentrationGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#a08352dbfe4ec5ab35d6697e58e9cb5e0">mrpt::slam::CWirelessPowerGridMap2D</a>.</p>
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<a class="anchor" id="ae7b0688c0e2c0d75554e22b739649463"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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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<td> const<code> [inline, virtual]</code></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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<a class="anchor" id="ace4e7cc2a2f070d556c5074117a3aa2f"></a><!-- doxytag: member="mrpt::slam::CMetricMap::getAsSimplePointsMap" ref="ace4e7cc2a2f070d556c5074117a3aa2f" args="()" -->
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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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<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></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="a7ae0fed73fe1304f4fbb196bb3fe3400"></a><!-- doxytag: member="mrpt::slam::CMetricMap::GetRuntimeClass" ref="a7ae0fed73fe1304f4fbb196bb3fe3400" args="() const " -->
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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::CMetricMap::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_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a1ccd2f2de279d41d9a7ebe4281abc739">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a317c9203c516c858b5601a62ce1d7477">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#ac7a4c6394b7fddb87dc856144aef5318">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#aee803e47300b638302daf2a6c737c4c5">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ad2982f2cf593e82861cc22e742335eab">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a426abafdc28b104a88a5e6505f5d115f">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a9c158fb8e26380ea26ed250601599bc6">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a778d530a21d9072f3fa5a84f048c68c4">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#adbd0ab414c57a658ab71583de492c5b1">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a2872aa0dc367cd19d5c0f0fa92e06929">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#adad91911ab28570cac85136391b0ed09">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a46e7c0d1dcd1e783a2863e9f544800fa">mrpt::slam::CSimplePointsMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#a0e9e3b6b499c6a41dcab7c2cc2a2d239">mrpt::slam::CWeightedPointsMap</a>.</p>
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<a class="anchor" id="a1c1e8c7d0d184ccdaa7d5a0ee5184e1e"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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::CMetricMap::insertObservation" ref="ad1d3f22228d6dbdb3c31c132713bf782" args="(const CObservation *obs, const CPose3D *robotPose=NULL)" -->
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">CObservation</a> * </td>
<td class="paramname"><em>obs</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"><em>robotPose</em> = <code>NULL</code> </td>
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<p>Insert the observation information into this map. </p>
<p>This method must be implemented in derived classes. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">obs</td><td>The observation </td></tr>
<tr><td class="paramname">robotPose</td><td>The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use the origin.</td></tr>
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<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::CMetricMap::insertObservationPtr" ref="a7cb614f5ec634ec6f6a20b14163e5b07" args="(const CObservationPtr &obs, const CPose3D *robotPose=NULL)" -->
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> & </td>
<td class="paramname"><em>obs</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td>
<td class="paramname"><em>robotPose</em> = <code>NULL</code> </td>
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<td>)</td>
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<p>A wrapper for smart pointers, just calls the non-smart pointer version. </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00147">147</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, <a class="el" href="_c_observation_8h_source.html#l00067">mrpt::slam::CObservationPtr::pointer()</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a9c19a7f400d7edb087a81e28cafb39d1"></a><!-- doxytag: member="mrpt::slam::CMetricMap::internal_clear" ref="a9c19a7f400d7edb087a81e28cafb39d1" args="()=0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::internal_clear </td>
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<td><code> [private, pure virtual]</code></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>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a9624bf853d1a300ea645d0d742f969c1">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#a8aba04f649c069e03a1c9b76e01c98c9">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a358c5b280e2ad877e1c7caa4be0687f4">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aef1a6c43ae483ee400548d76b8372d26">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ab0198e46eedeab84a658372463fd88f7">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a31904aee85b95682f6a2719488245102">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#a2d351195a96a8fcf930379ca5daf39d0">mrpt::slam::CSimplePointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#a3e105ee0043025019ed449fcc881ddc5">mrpt::slam::CWeightedPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#ad726f3137b80949b6089b1f35c55f01e">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a72d682dc847ac37e6fef7cb047fea497">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a6ca13b1304fba1d8b83c289caa74dd72">mrpt::slam::CLandmarksMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a83941bcaa17e7aae9ced964d7debd0f4">mrpt::slam::CBeaconMap</a>.</p>
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<a class="anchor" id="aab88fec1ad02cceaaaf74c02d4e6f68a"></a><!-- doxytag: member="mrpt::slam::CMetricMap::internal_insertObservation" ref="aab88fec1ad02cceaaaf74c02d4e6f68a" args="(const CObservation *obs, const CPose3D *robotPose=NULL)=0" -->
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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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<td></td><td><code> [private, pure virtual]</code></td>
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<p>Internal method called by <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation()</a> </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#ab08f10325208248ce3d8abc08fcbc87a">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a4a20d00ac342a9e386ca12ee9b585e25">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aa7f8226e60f648fa8ae27a22575dc7eb">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#aa59c876fda8f0231005f1ad14dfa90e5">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a0e23bdc2a193d8dce56cc1c1115f2913">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#a03fb2d30b208f91c0dc4e248a9f48594">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a08c749bf46a18cc4cd7b28167c751d91">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a1cc9215c31d5ce3d6e1715ae4844088f">mrpt::slam::CLandmarksMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a668d4c99ef65c74893a50424e4b51834">mrpt::slam::CBeaconMap</a>.</p>
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<p>Returns true if the map is empty/no observation has been inserted. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a6b471182a3f3ddd6aefda6a9b97f6648">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#aebd31fda88c9a07724491391ff1139ac">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#ac4df34b818a5d55074c5cb3fc711252d">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#a0164b07f11921725c7397f8a7e9961d5">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a1a5d553a88fe8001ee9bd99b3ce4b52d">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#aa84819c47e00685f6ce12a1876150edd">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#ad6e110a90daa1980d59a0f88c481e592">mrpt::slam::CMultiMetricMap</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#aedad957f093945f1e8a923c26c55c6b7">mrpt::slam::CReflectivityGridMap2D</a>.</p>
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<a class="anchor" id="a9fbc1945a342365600bf352ec89fc617"></a><!-- doxytag: member="mrpt::slam::CMetricMap::loadFromProbabilisticPosesAndObservations" ref="a9fbc1945a342365600bf352ec89fc617" args="(const CSimpleMap &Map)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
<td class="paramname"><em>Map</em></td><td>)</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::CMetricMap::loadFromSimpleMap" ref="aedf155237d3fe3d595994b9659a4e688" args="(const CSimpleMap &Map)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
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<td><code> [inline]</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="a75f844879662ac04588a1eda33432a77"></a><!-- doxytag: member="mrpt::slam::CMetricMap::OnPostSuccesfulInsertObs" ref="a75f844879662ac04588a1eda33432a77" args="(const CObservation *)" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::OnPostSuccesfulInsertObs </td>
<td>(</td>
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<p>Hook for each time a "internal_insertObservation" returns "true" This is called automatically from <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#ad1d3f22228d6dbdb3c31c132713bf782" title="Insert the observation information into this map.">insertObservation()</a> when internal_insertObservation returns true. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a79a95d31a9a33c998592bdba788ab80f">mrpt::slam::COccupancyGridMap2D</a>.</p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00090">90</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="a0c384e00c06199bc2ff37ff5ecb520c9"></a><!-- doxytag: member="mrpt::slam::CMetricMap::publishEvent" ref="a0c384e00c06199bc2ff37ff5ecb520c9" args="(const mrptEvent &e) const " -->
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<td class="memname">void mrpt::utils::CObservable::publishEvent </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1mrpt_event.html">mrptEvent</a> & </td>
<td class="paramname"><em>e</em></td><td>)</td>
<td> const<code> [protected, inherited]</code></td>
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<p>Called when you want this object to emit an event to all the observers currently subscribed to this object. </p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CMetricMap::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</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#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>
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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_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="ae53f6697d660d43ebaaf8621945ebef0"></a><!-- doxytag: member="mrpt::slam::CMetricMap::saveMetricMapRepresentationToFile" ref="ae53f6697d660d43ebaaf8621945ebef0" args="(const std::string &filNamePrefix) const =0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMap::saveMetricMapRepresentationToFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filNamePrefix</em></td><td>)</td>
<td> const<code> [pure 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>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a351d915efb5fcf5e16fb48d28745663c">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#aaa36737baa422bf3efc4958a85dcc6fc">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#afce6434feaf927cbb988f9cdbed9f2ef">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a82d94f8aa153e3102610d18fc25f2fa6">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#aba12264f1d3f011585ec936afd8f888c">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a8c58a41751a103962401f5f2768e0bc8">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a689d86d30757a8455d51820001ac4f12">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a36cf1d67ff8d68183c80f6613a3304ab">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a18f4a633d9150f2dc7113aa214360a6d">mrpt::slam::CGasConcentrationGridMap2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#a2ec9206ae9c6dcdec41695bc682fb3d6">mrpt::slam::CWirelessPowerGridMap2D</a>.</p>
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<a class="anchor" id="ae6235efcb6d5da8e9db1ad6ccfb8225c"></a><!-- doxytag: member="mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence" ref="ae6235efcb6d5da8e9db1ad6ccfb8225c" args="(const float &x0, const float &y0) const " -->
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<td class="memname">virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence </td>
<td>(</td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>x0</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>y0</em> </td>
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<td>)</td>
<td></td><td> const<code> [inline, virtual]</code></td>
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<p>Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. </p>
<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00333">333</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CMetricMap::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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]</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="a1cbb8630027acc3d6d227fa7d78c724f"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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]</code></td>
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<p>Definition at line <a class="el" href="_c_metric_map_8h_source.html#l00081">81</a> of file <a class="el" href="_c_metric_map_8h_source.html">CMetricMap.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CMetricMap::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CMetricMap::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a2b50a8c61d853cc452b82d58756e9603"></a><!-- doxytag: member="mrpt::slam::CMetricMap::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></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>
