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<div class="title">CGasConcentrationGridMap2D.h</div> </div>
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<a href="_c_gas_concentration_grid_map2_d_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CGasConcentrationGridMap2D_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CGasConcentrationGridMap2D_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_random_field_grid_map2_d_8h.html">mrpt/slam/CRandomFieldGridMap2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation_gas_sensors_8h.html">mrpt/slam/CObservationGasSensors.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html">mrpt/maps/link_pragmas.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>slam
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00042"></a>00042 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_ptr.html#aa17cc1110962420b8e67377947773b79">00045</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html" title="CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.">CGasConcentrationGridMap2D</a> , <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a>, <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> )
<a name="l00046"></a>00046
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1slam.html#adb96c67ccb95922aad7cdf6c3b68ffa9">00047</a> typedef <a class="code" href="structmrpt_1_1slam_1_1_t_random_field_cell.html" title="The contents of each cell in a CRandomFieldGridMap2D map.">TRandomFieldCell</a> <a class="code" href="structmrpt_1_1slam_1_1_t_random_field_cell.html" title="The contents of each cell in a CRandomFieldGridMap2D map.">TGasConcentrationCell</a>; <span class="comment">//!< Defined for backward compatibility only (mrpt <0.9.5)</span>
<a name="l00048"></a>00048 <span class="comment"></span><span class="comment"></span>
<a name="l00049"></a>00049 <span class="comment"> /** CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * There are a number of methods available to build the gas grid-map, depending on the value of</span>
<a name="l00052"></a>00052 <span class="comment"> * "TMapRepresentation maptype" passed in the constructor (see base class mrpt::slam::CRandomFieldGridMap2D).</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * \sa mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap</span>
<a name="l00055"></a>00055 <span class="comment"> * \ingroup mrpt_maps_grp</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 class <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html" title="CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.">CGasConcentrationGridMap2D</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a77c476604f868452d33426cb175336fe">00060</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html" title="CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.">CGasConcentrationGridMap2D</a> )
<a name="l00061"></a>00061 public:
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Constructor</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <a class="code" 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.">CGasConcentrationGridMap2D</a>(
<a name="l00066"></a>00066 <a class="code" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a1bdb0ec64ac5ebc8f0b803b66151703a" title="The type of map representation to be used.">TMapRepresentation</a> mapType = mrAchim,
<a name="l00067"></a>00067 <span class="keywordtype">float</span> x_min = -2,
<a name="l00068"></a>00068 <span class="keywordtype">float</span> x_max = 2,
<a name="l00069"></a>00069 <span class="keywordtype">float</span> y_min = -2,
<a name="l00070"></a>00070 <span class="keywordtype">float</span> y_max = 2,
<a name="l00071"></a>00071 <span class="keywordtype">float</span> resolution = 0.1
<a name="l00072"></a>00072 );
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** Destructor */</span>
<a name="l00075"></a>00075 virtual ~<a class="code" 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.">CGasConcentrationGridMap2D</a>();
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.</span>
<a name="l00078"></a>00078 <span class="comment"> *</span>
<a name="l00079"></a>00079 <span class="comment"> * \param takenFrom The robot's pose the observation is supposed to be taken from.</span>
<a name="l00080"></a>00080 <span class="comment"> * \param obs The observation.</span>
<a name="l00081"></a>00081 <span class="comment"> * \return This method returns a likelihood in the range [0,1].</span>
<a name="l00082"></a>00082 <span class="comment"> *</span>
<a name="l00083"></a>00083 <span class="comment"> * \sa Used in particle filter algorithms, see: CMultiMetricMapPDF::update</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 virtual <span class="keywordtype">double</span> computeObservationLikelihood( const <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> *obs, const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &takenFrom );
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Parameters related with inserting observations into the map:</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a>00090 struct <a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html" title="Parameters related with inserting observations into the map:">TInsertionOptions</a> :
<a name="l00091"></a>00091 public utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>,
<a name="l00092"></a>00092 public <a class="code" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html" title="Parameters common to any derived class.">TInsertionOptionsCommon</a>
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html" title="Parameters related with inserting observations into the map:">TInsertionOptions</a>(); <span class="comment">//!< Default values loader</span>
<a name="l00095"></a>00095 <span class="comment"></span><span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** See utils::CLoadableOptions */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00098"></a>00098 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00099"></a>00099 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>; <span class="comment">//!< See utils::CLoadableOptions</span>
<a name="l00102"></a>00102 <span class="comment"></span><span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** @name For all mapping methods</span>
<a name="l00104"></a>00104 <span class="comment"> @{ */</span>
<a name="l00105"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a8c884c20ea1ff9f204699738dfc4b517">00105</a> uint16_t <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a8c884c20ea1ff9f204699738dfc4b517" title="The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)">sensorType</a>; <span class="comment">//!< The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)</span>
<a name="l00106"></a>00106 <span class="comment"></span><span class="comment"> /** @} */</span>
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** @name Parameters of the "MOS model"</span>
<a name="l00109"></a>00109 <span class="comment"> @{ */</span>
<a name="l00110"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a2c154ffedf2cce4ff8e6c17cddaf1e4b">00110</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a2c154ffedf2cce4ff8e6c17cddaf1e4b" title="If true use MOS model before map algorithm.">useMOSmodel</a>; <span class="comment">//!< If true use MOS model before map algorithm</span>
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aac6a9fedccc76c7a4062e74fd5117d6e">00112</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aac6a9fedccc76c7a4062e74fd5117d6e" title="Tau values for the rise sensor's phases.">tauR</a>; <span class="comment">//!< Tau values for the rise sensor's phases.</span>
<a name="l00113"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ab685097713d17d35a3491d0f62802edb">00113</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ab685097713d17d35a3491d0f62802edb" title="Tau values for the decay (tauD) sensor's phases.">tauD</a>; <span class="comment">//!< Tau values for the decay (tauD) sensor's phases.</span>
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aab3845650401df8cbd6cb6b259fba521">00115</a> uint16_t <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aab3845650401df8cbd6cb6b259fba521" title="The number of observations to keep in m_lastObservations.">lastObservations_size</a>; <span class="comment">//!< The number of observations to keep in m_lastObservations</span>
<a name="l00116"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ad61a960a3286b8f3512b6acac2469d3e">00116</a> <span class="comment"></span> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ad61a960a3286b8f3512b6acac2469d3e" title="The number of observations used to reduce noise on signal.">winNoise_size</a>; <span class="comment">//!< The number of observations used to reduce noise on signal.</span>
<a name="l00117"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a059e6107e70242afc70953d5a4c4d19c">00117</a> <span class="comment"></span> uint16_t <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a059e6107e70242afc70953d5a4c4d19c" title="The decimate frecuency applied after noise filtering.">decimate_value</a>; <span class="comment">//!< The decimate frecuency applied after noise filtering</span>
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#acc659e79678bc1d54d1432d19728b556">00119</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#acc659e79678bc1d54d1432d19728b556" title="Measured values of K= 1/tauD for different volatile concentrations.">calibrated_tauD_voltages</a>; <span class="comment">//!< Measured values of K= 1/tauD for different volatile concentrations</span>
<a name="l00120"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac0770ee79fb0bf696b9d83c4fd8f0eda">00120</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac0770ee79fb0bf696b9d83c4fd8f0eda">calibrated_tauD_values</a>;
<a name="l00121"></a>00121
<a name="l00122"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a879639f8c711a883aa1a73eb8544496d">00122</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a879639f8c711a883aa1a73eb8544496d" title="Measured values of the delay (memory effect) for different robot speeds.">calibrated_delay_RobotSpeeds</a>; <span class="comment">//!< Measured values of the delay (memory effect) for different robot speeds</span>
<a name="l00123"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#afad7e89aa3854b30ef01905389a08546">00123</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#afad7e89aa3854b30ef01905389a08546">calibrated_delay_values</a>;
<a name="l00124"></a>00124
<a name="l00125"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a06159894b0911e0319c3da11117aeb11">00125</a> uint16_t <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a06159894b0911e0319c3da11117aeb11" title="id for the enose used to generate this map (must be < gasGrid_count)">enose_id</a>; <span class="comment">//!< id for the enose used to generate this map (must be < gasGrid_count)</span>
<a name="l00126"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac57e58da4e89792729e2ed4951fcda1a">00126</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac57e58da4e89792729e2ed4951fcda1a" title="If true save generated gas map as a log file.">save_maplog</a>; <span class="comment">//!< If true save generated gas map as a log file</span>
<a name="l00127"></a>00127 <span class="comment"></span><span class="comment"> /** @} */</span> <span class="comment">// end: Parameters of the "MOS model"</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 } insertionOptions;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Returns an image just as described in \a saveAsBitmapFile */</span>
<a name="l00133"></a>00133 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAsBitmapFile(<a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &out_img) <span class="keyword">const</span>;
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /** The implementation in this class just calls all the corresponding method of the contained metric maps.</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a>00137 <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveMetricMapRepresentationToFile(
<a name="l00138"></a>00138 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filNamePrefix
<a name="l00139"></a>00139 ) <span class="keyword">const</span>;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.</span>
<a name="l00142"></a>00142 <span class="comment"> * This method can only be called in a KF map model.</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveAsMatlab3DGraph(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName) <span class="keyword">const</span>;
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment"> /** Returns a 3D object representing the map.</span>
<a name="l00147"></a>00147 <span class="comment"> */</span>
<a name="l00148"></a>00148 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getAs3DObject ( <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj ) <span class="keyword">const</span>;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keyword">protected</span>:
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Get the part of the options common to all CRandomFieldGridMap2D classes */</span>
<a name="l00153"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ac3e4ca9b8d8a3345fac99bb63bc7d3d6">00153</a> <span class="keyword">virtual</span> CRandomFieldGridMap2D<a class="code" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html" title="Parameters common to any derived class.">::TInsertionOptionsCommon</a> * <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ac3e4ca9b8d8a3345fac99bb63bc7d3d6" title="Get the part of the options common to all CRandomFieldGridMap2D classes.">getCommonInsertOptions</a>() {
<a name="l00154"></a>00154 <span class="keywordflow">return</span> &insertionOptions;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (insertionOptions.useMOSmodel =1)</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keyword">struct </span><a class="code" href="maps_2include_2mrpt_2maps_2link__pragmas_8h.html#ad401479c152d92658375c646837e33ed">MAPS_IMPEXP</a> TdataMap
<a name="l00160"></a>00160 {
<a name="l00161"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a010943ad185935717899db689b80c55d">00161</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a010943ad185935717899db689b80c55d">reading</a>;
<a name="l00162"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#afb876553ac603129dbd8af4be3790381">00162</a> mrpt<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">::system::TTimeStamp</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#afb876553ac603129dbd8af4be3790381">timestamp</a>;
<a name="l00163"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a5f6e961763139985c61b7e53850ce68c">00163</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a5f6e961763139985c61b7e53850ce68c">k</a>;
<a name="l00164"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#adb2a4775741c2e47b89d669f69b5b2ee">00164</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#adb2a4775741c2e47b89d669f69b5b2ee">sensorPose</a>;
<a name="l00165"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#ae22d59120609eebc929f0e7834002401">00165</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#ae22d59120609eebc929f0e7834002401">estimation</a>;
<a name="l00166"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a31e4423d8f7362102b645f8495d3ac9e">00166</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a31e4423d8f7362102b645f8495d3ac9e">reading_filtered</a>;
<a name="l00167"></a><a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a2c0d7763fea071f74924c1ba6ba45c12">00167</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html#a2c0d7763fea071f74924c1ba6ba45c12">speed</a>;
<a name="l00168"></a>00168 };
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** [useMOSmodel] The last N GasObservations, used for the MOS MODEL estimation. */</span>
<a name="l00171"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#acd17b1124338de01586e06dcdb2a6730">00171</a> <a class="code" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_tdata_map.html" title="The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (insertion...">TdataMap</a> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#acd17b1124338de01586e06dcdb2a6730" title="[useMOSmodel] The last N GasObservations, used for the MOS MODEL estimation.">m_new_Obs</a>, m_new_ANS;
<a name="l00172"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ad506aaeace190d27b8ee6bb81ed3fc09">00172</a> std<a class="code" href="classstd_1_1vector.html">::vector<TdataMap></a> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ad506aaeace190d27b8ee6bb81ed3fc09">m_lastObservations</a>;
<a name="l00173"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#afc8eee40f4443087e35c72ad99c7fe6f">00173</a> std<a class="code" href="classstd_1_1vector.html">::vector<TdataMap></a> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#afc8eee40f4443087e35c72ad99c7fe6f">m_antiNoise_window</a>;
<a name="l00174"></a>00174 <span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** [useMOSmodel] Ofstream to save to file option "save_maplog"</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ab8e520991aa744c585be18bb39924f3e">00177</a> std<a class="code" href="classstd_1_1ofstream.html" title="STL class.">::ofstream</a> *<a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ab8e520991aa744c585be18bb39924f3e" title="[useMOSmodel] Ofstream to save to file option "save_maplog"">m_debug_dump</a>;
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /** [useMOSmodel] Decimate value for oversampled enose readings</span>
<a name="l00180"></a>00180 <span class="comment"> */</span>
<a name="l00181"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#af6bb2aa6e8a08513d81ca40156c5306c">00181</a> uint16_t <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#af6bb2aa6e8a08513d81ca40156c5306c" title="[useMOSmodel] Decimate value for oversampled enose readings">decimate_count</a>;
<a name="l00182"></a>00182 <span class="comment"></span>
<a name="l00183"></a>00183 <span class="comment"> /** [useMOSmodel] To force e-nose samples to have fixed time increments</span>
<a name="l00184"></a>00184 <span class="comment"> */</span>
<a name="l00185"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a539fed678702a1a4199d80e4cb0dc14e">00185</a> <span class="keywordtype">double</span> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a539fed678702a1a4199d80e4cb0dc14e" title="[useMOSmodel] To force e-nose samples to have fixed time increments">fixed_incT</a>;
<a name="l00186"></a><a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ac52d6c1fca0045108acd94620c74d04b">00186</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#ac52d6c1fca0045108acd94620c74d04b">first_incT</a>;
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment"> /** Estimates the gas concentration based on readings and sensor model</span>
<a name="l00189"></a>00189 <span class="comment"> */</span>
<a name="l00190"></a>00190 <span class="keywordtype">void</span> CGasConcentration_estimation (
<a name="l00191"></a>00191 <span class="keywordtype">float</span> reading,
<a name="l00192"></a>00192 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &sensorPose,
<a name="l00193"></a>00193 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> timestamp);
<a name="l00194"></a>00194 <span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment"> /** Reduce noise by averaging with a mobile window</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a>00197 <span class="keywordtype">void</span> noise_filtering (
<a name="l00198"></a>00198 <span class="keywordtype">float</span> reading,
<a name="l00199"></a>00199 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &sensorPose,
<a name="l00200"></a>00200 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> timestamp );
<a name="l00201"></a>00201 <span class="comment"></span>
<a name="l00202"></a>00202 <span class="comment"> /** Save the GAS_MAP generated into a log file for offline representation</span>
<a name="l00203"></a>00203 <span class="comment"> */</span>
<a name="l00204"></a>00204 <span class="keywordtype">void</span> save_log_map(
<a name="l00205"></a>00205 <span class="keyword">const</span> <a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">mrpt::system::TTimeStamp</a> timestamp,
<a name="l00206"></a>00206 <span class="keyword">const</span> <span class="keywordtype">float</span> reading,
<a name="l00207"></a>00207 <span class="keyword">const</span> <span class="keywordtype">float</span> estimation,
<a name="l00208"></a>00208 <span class="keyword">const</span> <span class="keywordtype">float</span> k,
<a name="l00209"></a>00209 <span class="keyword">const</span> <span class="keywordtype">double</span> yaw,
<a name="l00210"></a>00210 <span class="keyword">const</span> <span class="keywordtype">float</span> speed);
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="comment"></span>
<a name="l00213"></a>00213 <span class="comment"> /** Erase all the contents of the map */</span>
<a name="l00214"></a>00214 <span class="keyword">virtual</span> <span class="keywordtype">void</span> internal_clear();
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment"> /** Insert the observation information into this map. This method must be implemented</span>
<a name="l00217"></a>00217 <span class="comment"> * in derived classes.</span>
<a name="l00218"></a>00218 <span class="comment"> * \param obs The observation</span>
<a name="l00219"></a>00219 <span class="comment"> * \param robotPose The 3D pose of the robot mobile base in the map reference system, or NULL (default) if you want to use CPose2D(0,0,deg)</span>
<a name="l00220"></a>00220 <span class="comment"> *</span>
<a name="l00221"></a>00221 <span class="comment"> * \sa CObservation::insertObservationInto</span>
<a name="l00222"></a>00222 <span class="comment"> */</span>
<a name="l00223"></a>00223 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> internal_insertObservation( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a> *obs, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> *robotPose = NULL );
<a name="l00224"></a>00224
<a name="l00225"></a>00225 };
<a name="l00226"></a>00226
<a name="l00227"></a>00227 } <span class="comment">// End of namespace</span>
<a name="l00228"></a>00228
<a name="l00229"></a>00229 } <span class="comment">// End of namespace</span>
<a name="l00230"></a>00230
<a name="l00231"></a>00231 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
