mrpt::slam::CGasConcentrationGridMap2D Class Reference

CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D:

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Collaboration diagram for mrpt::slam::CGasConcentrationGridMap2D:

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List of all members.

Classes
struct	TInsertionOptions
	Parameters related with inserting observations into the map:. More...
Public Types
enum	TMapRepresentation { mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKalmanApproximate_deconv }
	The type of map representation to be used. More...
Public Member Functions
void	clear ()
	Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.
float	cell2float (const TGasConcentrationCell &c) const
	CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor.
virtual	~CGasConcentrationGridMap2D ()
	Destructor.
bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted.
double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,.
void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const TGasConcentrationCell &defaultValueNewCells, float additionalMarginMeters=1.0f)
	Changes the size of the grid, maintaining previous contents.
float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) const
	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.
void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	The implementation in this class just calls all the corresponding method of the contained metric maps.
void	saveAsMatlab3DGraph (const std::string &filName) const
	Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.
void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map.
void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
TMapRepresentation	getMapType ()
	Return the type of the gas distribution map, according to parameters passed on construction.
void	predictMeasurement (const double &x, const double &y, double &out_predict_response, double &out_predict_response_variance)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).
void	getMeanAndCov (vector_double &out_means, CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).
Public Attributes
mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions	insertionOptions
	Parameters related with inserting observations into the map:.
Protected Member Functions
void	insertObservation_Achim (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Achim's map model.
void	insertObservation_KF (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model.
void	insertObservation_KF2 (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model.
void	insertObservation_KF3 (float normReading, CPose3D &sensorPose, mrpt::system::TTimeStamp timestamp)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model with estimation of real gas concentration using sensor model.
void	CGasConcentration_estimation (float reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp timestamp)
	Estimates the gas concentration based on readings and sensor model.
void	noise_filtering (float reading, const CPose3D &sensorPose, const mrpt::system::TTimeStamp timestamp)
	Reduce noise by averaging with a mobile window.
void	save_log_map (const mrpt::system::TTimeStamp timestamp, const float reading, const float estimation, const float k, const double yaw, const float speed)
	Save the GAS_MAP generated into a log file for offline representation.
void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.
virtual void	internal_clear ()
	Erase all the contents of the map.
virtual bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
Static Protected Member Functions
static float	computeAchimCellValue (const TGasConcentrationCell *cell)
	Computes the average cell concentration, or 0 if it has never been observed:.
Protected Attributes
std::ofstream *	m_debug_dump
	[KF3] Ofstream to save to file option "save_maplog"
uint16_t	decimate_count
	[KF3] Decimate value for oversampled enose readings
double	fixed_incT
	[KF3] To force e-nose samples to have fixed time increments
bool	first_incT
TMapRepresentation	m_mapType
	The map representation type of this map.
CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation.
CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation.
bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation.
Private Types
typedef utils::CDynamicGrid < TGasConcentrationCell >	BASE

Detailed Description

CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.

Definition at line 92 of file CGasConcentrationGridMap2D.h.

Member Typedef Documentation

typedef utils::CDynamicGrid<TGasConcentrationCell> mrpt::slam::CGasConcentrationGridMap2D::BASE [private]

Definition at line 94 of file CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

enum mrpt::slam::CGasConcentrationGridMap2D::TMapRepresentation

The type of map representation to be used.

Enumerator:

mrAchim
mrKalmanFilter
mrKalmanApproximate
mrKalmanApproximate_deconv

Definition at line 113 of file CGasConcentrationGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D	(	TMapRepresentation	mapType = `mrAchim`,
		float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

virtual mrpt::slam::CGasConcentrationGridMap2D::~CGasConcentrationGridMap2D ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::slam::CGasConcentrationGridMap2D::auxParticleFilterCleanUp ( ) [virtual]

This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".

This method should normally do nothing, but in some cases can be used to free auxiliary cached variables.

Implements mrpt::slam::CMetricMap.

float mrpt::slam::CGasConcentrationGridMap2D::cell2float ( const TGasConcentrationCell & c ) const [inline]

Definition at line 105 of file CGasConcentrationGridMap2D.h.

References mrpt::slam::TGasConcentrationCell::mean.

void mrpt::slam::CGasConcentrationGridMap2D::CGasConcentration_estimation	(	float	reading,
		const CPose3D &	sensorPose,
		const mrpt::system::TTimeStamp	timestamp
	)			`[protected]`

Estimates the gas concentration based on readings and sensor model.

void mrpt::slam::CGasConcentrationGridMap2D::clear ( void ) [inline]

Calls the base CMetricMap::clear Declared here to avoid ambiguity between the two clear() in both base classes.

Reimplemented from mrpt::slam::CMetricMap.

Definition at line 103 of file CGasConcentrationGridMap2D.h.

References mrpt::slam::CMetricMap::clear().

float mrpt::slam::CGasConcentrationGridMap2D::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	minDistForCorr = `0.10f`,
		float	minMahaDistForCorr = `2.0f`
	)			const

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.

This method always return 0 for grid maps.

Parameters:

	otherMap	[IN] The other map to compute the matching with.
	otherMapPose	[IN] The 6D pose of the other map as seen from "this".
	minDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
	minMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns:: The matching ratio [0,1]

See also:: computeMatchingWith2D

static float mrpt::slam::CGasConcentrationGridMap2D::computeAchimCellValue ( const TGasConcentrationCell * cell ) [static, protected]

Computes the average cell concentration, or 0 if it has never been observed:.

double mrpt::slam::CGasConcentrationGridMap2D::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)			`[virtual]`

Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.

Parameters:

	takenFrom	The robot's pose the observation is supposed to be taken from.
	obs	The observation.

Returns:: This method returns a likelihood in the range [0,1].

See also:: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const [virtual]

Returns a 3D object representing the map.

Implements mrpt::slam::CMetricMap.

TMapRepresentation mrpt::slam::CGasConcentrationGridMap2D::getMapType ( )

Return the type of the gas distribution map, according to parameters passed on construction.

void mrpt::slam::CGasConcentrationGridMap2D::getMeanAndCov	(	vector_double &	out_means,
		CMatrixDouble &	out_cov
	)			const

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_Achim	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the Achim's map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF2	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF3	(	float	normReading,
		CPose3D &	sensorPose,
		mrpt::system::TTimeStamp	timestamp
	)			`[protected]`

The implementation of "insertObservation" for the Efficient Kalman Filter map model with estimation of real gas concentration using sensor model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

virtual void mrpt::slam::CGasConcentrationGridMap2D::internal_clear ( ) [protected, virtual]

Erase all the contents of the map.

Implements mrpt::slam::CMetricMap.

virtual bool mrpt::slam::CGasConcentrationGridMap2D::internal_insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)			`[protected, virtual]`

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters:

	obs	The observation
	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)

See also:: CObservation::insertObservationInto

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CGasConcentrationGridMap2D::isEmpty ( ) const [virtual]

Returns true if the map is empty/no observation has been inserted.

Implements mrpt::slam::CMetricMap.

void mrpt::slam::CGasConcentrationGridMap2D::noise_filtering	(	float	reading,
		const CPose3D &	sensorPose,
		const mrpt::system::TTimeStamp	timestamp
	)			`[protected]`

Reduce noise by averaging with a mobile window.

void mrpt::slam::CGasConcentrationGridMap2D::predictMeasurement	(	const double &	x,
		const double &	y,
		double &	out_predict_response,
		double &	out_predict_response_variance
	)

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

This methods is implemented differently for the different gas map types.

void mrpt::slam::CGasConcentrationGridMap2D::recoverMeanAndCov ( ) const [protected]

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See also:: m_hasToRecoverMeanAndCov

void mrpt::slam::CGasConcentrationGridMap2D::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const TGasConcentrationCell &	defaultValueNewCells,
		float	additionalMarginMeters = `1.0f`
	)

Changes the size of the grid, maintaining previous contents.

See also:: setSize

void mrpt::slam::CGasConcentrationGridMap2D::save_log_map	(	const mrpt::system::TTimeStamp	timestamp,
		const float	reading,
		const float	estimation,
		const float	k,
		const double	yaw,
		const float	speed
	)			`[protected]`

Save the GAS_MAP generated into a log file for offline representation.

void mrpt::slam::CGasConcentrationGridMap2D::saveAsBitmapFile ( const std::string & filName ) const

Save the current map as a graphical file (BMP,PNG,.

..). The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $\sum{\frac{wR}{w}}$ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell. mrInformationFilter: Id.

void mrpt::slam::CGasConcentrationGridMap2D::saveAsMatlab3DGraph ( const std::string & filName ) const

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

This method can only be called in a KF map model.

void mrpt::slam::CGasConcentrationGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const [virtual]

The implementation in this class just calls all the corresponding method of the contained metric maps.

Implements mrpt::slam::CMetricMap.

Member Data Documentation

uint16_t mrpt::slam::CGasConcentrationGridMap2D::decimate_count [protected]

[KF3] Decimate value for oversampled enose readings

Definition at line 331 of file CGasConcentrationGridMap2D.h.

bool mrpt::slam::CGasConcentrationGridMap2D::first_incT [protected]

Definition at line 336 of file CGasConcentrationGridMap2D.h.

double mrpt::slam::CGasConcentrationGridMap2D::fixed_incT [protected]

[KF3] To force e-nose samples to have fixed time increments

Definition at line 335 of file CGasConcentrationGridMap2D.h.

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions mrpt::slam::CGasConcentrationGridMap2D::insertionOptions

Parameters related with inserting observations into the map:.

CMatrixD mrpt::slam::CGasConcentrationGridMap2D::m_cov [protected]

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 344 of file CGasConcentrationGridMap2D.h.

std::ofstream* mrpt::slam::CGasConcentrationGridMap2D::m_debug_dump [protected]

[KF3] Ofstream to save to file option "save_maplog"

Definition at line 327 of file CGasConcentrationGridMap2D.h.

bool mrpt::slam::CGasConcentrationGridMap2D::m_hasToRecoverMeanAndCov [mutable, protected]

Only for the KF2 implementation.

Definition at line 415 of file CGasConcentrationGridMap2D.h.

TMapRepresentation mrpt::slam::CGasConcentrationGridMap2D::m_mapType [protected]

The map representation type of this map.

Definition at line 340 of file CGasConcentrationGridMap2D.h.

CMatrixD mrpt::slam::CGasConcentrationGridMap2D::m_stackedCov [protected]

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 413 of file CGasConcentrationGridMap2D.h.

mrpt::slam::CGasConcentrationGridMap2D Class Reference

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation