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10 #ifndef CHeightGridMap2D_H
11 #define CHeightGridMap2D_H
83 TMapRepresentation mapType = mrSimpleAverage,
84 double x_min = -2,
double x_max = 2,
85 double y_min = -2,
double y_max = 2,
86 double resolution = 0.1
108 void saveMetricMapRepresentationToFile(
const std::string &filNamePrefix)
const MRPT_OVERRIDE;
112 void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj)
const MRPT_OVERRIDE;
118 size_t countObservedCells()
const;
124 virtual
bool dem_get_z_by_cell(const
size_t cx, const
size_t cy,
double &z_out) const
MRPT_OVERRIDE;
125 virtual
bool dem_get_z(const
double x, const
double y,
double &z_out) const
MRPT_OVERRIDE;
132 bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
133 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
136 double min_x,max_x,min_y,max_y,resolution;
145 namespace global_settings
float v
Auxiliary (in meters)
Parameters related with inserting observations into the map.
TColormap
Different colormaps.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
float cell2float(const THeightGridmapCell &c) const MRPT_OVERRIDE
Extra params for insertIndividualPoint()
Virtual base class for Digital Elevation Model (DEM) maps.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
void clear()
Erase all the contents of the map.
Parameters for CMetricMap::compute3DMatchingRatio()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The contents of each cell in a CHeightGridMap2D map.
bool filterByHeight
Whether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the ...
float var
The current standard deviation of the height (in meters)
Declares a virtual base class for all metric maps storage classes.
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated h...
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
TMapRepresentation
The type of map representation to be used.
float h
The current average height (in meters)
A 2D grid of dynamic size which stores any kind of data at each cell.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void clear()
Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both bas...
MAPS_IMPEXP bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH
If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh,...
static void fill(bimap< enum_t, std::string > &m_map)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
float u
Auxiliary variable for storing the incremental mean value (in meters).
maps::CHeightGridMap2D::TMapRepresentation enum_t
mrpt::utils::TColormap colorMap
uint32_t w
[For mrSimpleAverage model] The accumulated weight: initially zero if un-observed,...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Only specializations of this class are defined for each enum type of interest.
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