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59 virtual
bool internal_insertObservation( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D *robotPose = NULL )
MRPT_OVERRIDE;
60 double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom )
MRPT_OVERRIDE;
66 void resize(const
size_t N);
69 const
CBeacon& operator [](
size_t i)
const {
96 m_beacons.push_back( m );
178 bool saveToMATLABScript3D(
179 const std::string &file,
180 const char *style=
"b",
181 float confInterval = 0.95f )
const;
189 virtual void determineMatching2D(
204 void computeMatchingWith3DLandmarks(
207 float &correspondencesRatio,
208 std::vector<bool> &otherCorrespondences)
const;
229 void simulateBeaconReadings(
230 const
mrpt::poses::CPose3D &in_robotPose,
231 const
mrpt::poses::CPoint3D &in_sensorLocationOnRobot,
232 mrpt::obs::CObservationBeaconRanges &out_Observations ) const;
240 void saveMetricMapRepresentationToFile(const std::
string &filNamePrefix ) const
MRPT_OVERRIDE;
float SOG_maxDistBetweenGaussians
A parameter for initializing 2D/3D SOGs.
std::deque< CBeacon >::iterator iterator
bool MC_performResampling
If set to false (default), the samples will be generated the first time a beacon is observed,...
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
This struct contains data for choosing the method by which new beacons are inserted in the map.
float MC_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing ...
TSequenceBeacons m_beacons
The individual beacons.
size_t size(const MATRIXLIKE &m, int dim)
float SOG_separationConstant
Constant used to compute the std.
Parameters for CMetricMap::compute3DMatchingRatio()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
const typedef Scalar * const_iterator
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
float MC_maxStdToGauss
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (def...
float rangeStd
The standard deviation used for Beacon ranges likelihood (default=0.08m).
float SOG_thresholdNegligible
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mod...
float MC_afterResamplingNoise
The std.dev.
Declares a virtual base class for all metric maps storage classes.
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
CBeacon & get(size_t i)
Access to individual beacons.
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...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
const CBeacon & get(size_t i) const
Access to individual beacons.
With this struct options are provided to the likelihood computations.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void push_back(const CBeacon &m)
Inserts a copy of the given mode into the SOG.
bool insertAsMonteCarlo
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussian...
Parameters for the determination of matchings between point clouds, etc.
unsigned int MC_numSamplesPerMeter
Number of particles per meter of range, i.e.
#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...
std::deque< CBeacon > TSequenceBeacons
const_iterator begin() const
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.
std::deque< CBeacon >::const_iterator const_iterator
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
const_iterator end() const
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