mrpt::slam::CSimplePointsMap Class Reference

A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

#include <mrpt/slam/CSimplePointsMap.h>

Inheritance diagram for mrpt::slam::CSimplePointsMap:

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Collaboration diagram for mrpt::slam::CSimplePointsMap:

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List of all members.

Public Member Functions
virtual	~CSimplePointsMap ()
	Destructor.
	CSimplePointsMap ()
	Default constructor.
void	copyFrom (const CPointsMap &obj)
	Copy operator.
void	loadFromRangeScan (const CObservation2DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
	Transform the range scan into a set of cartesian coordinated points.
void	loadFromRangeScan (const CObservation3DRangeScan &rangeScan, const CPose3D *robotPose=NULL)
	Enter the set of cartesian coordinated points from the 3D range scan into the map.
bool	load2D_from_text_file (std::string file)
	Load from a text file.
bool	load3D_from_text_file (std::string file)
	Load from a text file.
void	fuseWith (CPointsMap otherMap, float minDistForFuse=0.02f, std::vector< bool > notFusedPoints=NULL)
	Insert the contents of another map into this one, fusing the previous content with the new one.
void	insertAnotherMap (CPointsMap *otherMap, CPose2D otherPose)
	Insert the contents of another map into this one, without fusing close points.
virtual void	setPoint (size_t index, CPoint2D &p)
	Changes a given point from map, as a 2D point.
virtual void	setPoint (size_t index, CPoint3D &p)
	Changes a given point from map, as a 3D point.
virtual void	setPoint (size_t index, float x, float y)
	Changes a given point from map.
virtual void	setPoint (size_t index, float x, float y, float z)
	Changes a given point from map.
void	insertPoint (float x, float y, float z=0)
	Provides a way to insert individual points into the map:.
void	insertPoint (const mrpt::math::TPoint3D &new_pnt)
	Provides a way to insert individual points into the map:.
void	applyDeletionMask (std::vector< bool > &mask)
	Remove from the map the points marked in a bool's array as "true".
void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
void	reserve (size_t newLength)
	Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.
void	setAllPoints (const vector_float &X, const vector_float &Y, const vector_float &Z)
	Set all the points at once from vectors with X,Y and Z coordinates.
void	setAllPoints (const vector_float &X, const vector_float &Y)
	Set all the points at once from vectors with X and Y coordinates (Z=0).
virtual const CSimplePointsMap *	getAsSimplePointsMap () const
	If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
virtual CSimplePointsMap *	getAsSimplePointsMap ()
Protected Member Functions
virtual void	internal_clear ()
	Clear the map, erasing all the points.
bool	internal_insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.

Detailed Description

A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.

This class stores the coordinates (x,y,z) and a "weight", or counter of how many times that point has been seen, used only if points fusion is enabled in the options structure.

See also:: CMetricMap, CPoint, mrpt::utils::CSerializable

Definition at line 50 of file CSimplePointsMap.h.

Constructor & Destructor Documentation

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

Destructor.

mrpt::slam::CSimplePointsMap::CSimplePointsMap ( )

Default constructor.

Member Function Documentation

void mrpt::slam::CSimplePointsMap::applyDeletionMask ( std::vector< bool > & mask ) [virtual]

Remove from the map the points marked in a bool's array as "true".

Exceptions:

std::exception

If mask size is not equal to points count.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::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.

void mrpt::slam::CSimplePointsMap::copyFrom ( const CPointsMap & obj )

Copy operator.

void mrpt::slam::CSimplePointsMap::fuseWith	(	CPointsMap *	otherMap,
		float	minDistForFuse = `0.02f`,
		std::vector< bool > *	notFusedPoints = `NULL`
	)

Insert the contents of another map into this one, fusing the previous content with the new one.

This means that points very close to existing ones will be "fused", rather than "added". This prevents the unbounded increase in size of these class of maps. NOTICE that "otherMap" is neither translated nor rotated here, so if this is desired it must done before calling this method.

Parameters:

	otherMap	The other map whose points are to be inserted into this one.
	minDistForFuse	Minimum distance (in meters) between two points, each one in a map, to be considered the same one and be fused rather than added.
	notFusedPoints	If a pointer is supplied, this list will contain at output a list with a "bool" value per point in "this" map. This will be false/true according to that point having been fused or not.

See also:: insertAnotherMap

virtual CSimplePointsMap* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap ( ) [inline, virtual]

Reimplemented from mrpt::slam::CMetricMap.

Definition at line 186 of file CSimplePointsMap.h.

virtual const CSimplePointsMap* mrpt::slam::CSimplePointsMap::getAsSimplePointsMap ( ) const [inline, virtual]

If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.

Otherwise, return NULL

Reimplemented from mrpt::slam::CMetricMap.

Definition at line 185 of file CSimplePointsMap.h.

void mrpt::slam::CSimplePointsMap::insertAnotherMap	(	CPointsMap *	otherMap,
		CPose2D	otherPose
	)

Insert the contents of another map into this one, without fusing close points.

Parameters:

	otherMap	The other map whose points are to be inserted into this one.
	otherPose	The pose of the other map in the coordinates of THIS map

See also:: fuseWith

void mrpt::slam::CSimplePointsMap::insertPoint ( const mrpt::math::TPoint3D & new_pnt ) [inline]

Provides a way to insert individual points into the map:.

Reimplemented from mrpt::slam::CPointsMap.

Definition at line 154 of file CSimplePointsMap.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::slam::CSimplePointsMap::insertPoint	(	float	x,
		float	y,
		float	z = `0`
	)			`[virtual]`

Provides a way to insert individual points into the map:.

Implements mrpt::slam::CPointsMap.

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

Clear the map, erasing all the points.

Implements mrpt::slam::CMetricMap.

bool mrpt::slam::CSimplePointsMap::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::CSimplePointsMap::load2D_from_text_file ( std::string file ) [virtual]

Load from a text file.

In each line there are a point coordinates. Returns false if any error occured, true elsewere.

Implements mrpt::slam::CPointsMap.

bool mrpt::slam::CSimplePointsMap::load3D_from_text_file ( std::string file ) [virtual]

Load from a text file.

In each line there are a point coordinates. Returns false if any error occured, true elsewere.

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::loadFromRangeScan	(	const CObservation3DRangeScan &	rangeScan,
		const CPose3D *	robotPose = `NULL`
	)

Enter the set of cartesian coordinated points from the 3D range scan into the map.

The options in "insertionOptions" are considered in this method.

Parameters:

	rangeScan	The 3D scan to be inserted into this map
	robotPose	The robot 3D pose, default to (0,0,0\|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.

NOTE: Only ranges marked as "valid=true" in the observation will be inserted

See also:: CObservation3DRangeScan

void mrpt::slam::CSimplePointsMap::loadFromRangeScan	(	const CObservation2DRangeScan &	rangeScan,
		const CPose3D *	robotPose = `NULL`
	)			`[virtual]`

Transform the range scan into a set of cartesian coordinated points.

The options in "insertionOptions" are considered in this method.

Parameters:

	rangeScan	The scan to be inserted into this map
	robotPose	The robot 3D pose, default to (0,0,0\|0deg,0deg,0deg). It is used to compute the sensor pose relative to the robot actual pose. Recall sensor pose is embeded in the observation class.

NOTE: Only ranges marked as "valid=true" in the observation will be inserted

See also:: CObservation2DRangeScan

Implements mrpt::slam::CPointsMap.

void mrpt::slam::CSimplePointsMap::reserve ( size_t newLength ) [virtual]

Reserves memory for a given number of points: the size of the map does not change, it only reserves the memory.

This is useful for situations where it is approximately known the final size of the map. This method is more efficient than constantly increasing the size of the buffers. Refer to the STL C++ library's "reserve" methods.

Implements mrpt::slam::CPointsMap.