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<div class="title">[mrpt-maps]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/>
</p>
<h2>Library <code>mrpt-maps</code></h2>
<hr/>
<p>This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.</p>
<p>Interesting starting points: </p>
<ul>
<li>
To see the list of existing metric maps, see the classes inheriting from the base virtual <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">mrpt::slam::CMetricMap</a>. <b>Note:</b> There are two special maps which are not declared here in mrpt-maps, but in <a href="mrpt-vision.html">mrpt-vision</a>, due to their heavy dependence on computer vision functions. </li>
<li>
This library includes an embedded version of the ANN library for kd-tree fast construction and queries. It's used internally in CPointsMap, but could be used directly by the user. See ANNkd_tree. </li>
<li>
This library also adds new classes to the namespace <a class="el" href="namespacemrpt_1_1opengl.html" title="The namespace for 3D scene representation and rendering.">mrpt::opengl</a>, which couldn't be included in the library mrpt-opengl due to its heavy dependence on map classes declared here. The classes are: <a class="el" href="classmrpt_1_1opengl_1_1_c_angular_observation_mesh.html" title="A mesh built from a set of 2D laser scan observations.">mrpt::opengl::CAngularObservationMesh</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_planar_laser_scan.html" title="This object renders a 2D laser scan by means of three elements: the points, the line along end-points...">mrpt::opengl::CPlanarLaserScan</a> </li>
</ul>
<p>Please, note that there is another very important map class (<a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">mrpt::slam::CMultiMetricMap</a>) which is not in mrpt-maps, but in the library mrpt-slam (the reason is that there is not another reasonable way to factor MRPT into small libraries).</p>
<p>See the list of classes in <a class="el" href="namespacemrpt_1_1slam.html" title="This namespace contains algorithms for SLAM, localization, map building, representation of robot's ac...">mrpt::slam</a> (not all those classes are in mrpt-maps). </p>
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Collaboration diagram for [mrpt-maps]:</div>
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<center><table><tr><td><img src="group__mrpt__maps__grp.png" border="0" alt="" usemap="#group____mrpt____maps____grp"/>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1opengl_1_1_c_angular_observation_mesh.html">mrpt::opengl::CAngularObservationMesh</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A mesh built from a set of 2D laser scan observations. <a href="classmrpt_1_1opengl_1_1_c_angular_observation_mesh.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1opengl_1_1_c_planar_laser_scan.html">mrpt::opengl::CPlanarLaserScan</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. <a href="classmrpt_1_1opengl_1_1_c_planar_laser_scan.html#details">More...</a><br/></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_beacon.html">mrpt::slam::CBeacon</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. <a href="classmrpt_1_1slam_1_1_c_beacon.html#details">More...</a><br/></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_beacon_map.html">mrpt::slam::CBeaconMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). <a href="classmrpt_1_1slam_1_1_c_beacon_map.html#details">More...</a><br/></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_coloured_points_map.html">mrpt::slam::CColouredPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A map of 2D/3D points with individual colours (RGB). <a href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#details">More...</a><br/></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_gas_concentration_grid_map2_d.html">mrpt::slam::CGasConcentrationGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" 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> represents a PDF of gas concentrations over a 2D area. <a href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html">mrpt::slam::CLogOddsGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A generic provider of log-odds grid-map maintainance functions. <a href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html">mrpt::slam::CLogOddsGridMapLUT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">One static instance of this struct should exist in any class implementing <a class="el" href="structmrpt_1_1slam_1_1_c_log_odds_grid_map2_d.html" title="A generic provider of log-odds grid-map maintainance functions.">CLogOddsGridMap2D</a> to hold the Look-up-tables (LUTs) for log-odss Bayesian update. <a href="structmrpt_1_1slam_1_1_c_log_odds_grid_map_l_u_t.html#details">More...</a><br/></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_occupancy_grid_map2_d.html">mrpt::slam::COccupancyGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing an occupancy grid map. <a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#details">More...</a><br/></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_points_map.html">mrpt::slam::CPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. <a href="classmrpt_1_1slam_1_1_c_points_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t_random_field_cell.html">mrpt::slam::TRandomFieldCell</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The contents of each cell in a <a class="el" 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> map. <a href="structmrpt_1_1slam_1_1_t_random_field_cell.html#details">More...</a><br/></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_random_field_grid_map2_d.html">mrpt::slam::CRandomFieldGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" 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> represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). <a href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#details">More...</a><br/></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_reflectivity_grid_map2_d.html">mrpt::slam::CReflectivityGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). <a href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#details">More...</a><br/></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_simple_points_map.html">mrpt::slam::CSimplePointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. <a href="classmrpt_1_1slam_1_1_c_simple_points_map.html#details">More...</a><br/></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_weighted_points_map.html">mrpt::slam::CWeightedPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. <a href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#details">More...</a><br/></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_wireless_power_grid_map2_d.html">mrpt::slam::CWirelessPowerGridMap2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html" title="CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.">CWirelessPowerGridMap2D</a> represents a PDF of wifi concentrations over a 2D area. <a href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1opengl.html">mrpt::opengl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>The namespace for 3D scene representation and rendering. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html">mrpt::slam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. </p>
<br/></td></tr>
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