A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library.
This base class represents a 3D map where each voxel may contain an "occupancy" property, RGBD data, etc. depending on the derived class.
As with any other mrpt::maps::CMetricMap, you can obtain a 3D representation of the map calling getAs3DObject() or getAsOctoMapVoxels()
To use octomap's iterators to go through the voxels, use COctoMap::getOctomap()
The octomap library was presented in:
Definition at line 43 of file maps/COctoMapBase.h.
#include <mrpt/maps/COctoMapBase.h>
Classes | |
struct | TInsertionOptions |
With this struct options are provided to the observation insertion process. More... | |
struct | TLikelihoodOptions |
Options used when evaluating "computeObservationLikelihood". More... | |
struct | TRenderingOptions |
Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels. More... | |
Public Types | |
typedef COctoMapBase< OCTREE, OCTREE_NODE > | myself_t |
The type of this MRPT class. | |
typedef OCTREE | octree_t |
The type of the octree class in the "octomap" library. | |
typedef OCTREE_NODE | octree_node_t |
The type of nodes in the octree, in the "octomap" library. | |
Public Member Functions | |
COctoMapBase (const double resolution=0.10) | |
Constructor, defines the resolution of the octomap (length of each voxel side) | |
virtual | ~COctoMapBase () |
OCTREE & | getOctomap () |
Get a reference to the internal octomap object. | |
virtual bool | isEmpty () const MRPT_OVERRIDE |
Returns true if the map is empty/no observation has been inserted. | |
virtual void | saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const MRPT_OVERRIDE |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface). | |
virtual void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const MRPT_OVERRIDE |
Returns a 3D object representing the map. | |
virtual void | getAsOctoMapVoxels (mrpt::opengl::COctoMapVoxels &gl_obj) const =0 |
Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object. | |
bool | isPointWithinOctoMap (const float x, const float y, const float z) const |
Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped") | |
bool | getPointOccupancy (const float x, const float y, const float z, double &prob_occupancy) const |
Get the occupancy probability [0,1] of a point. | |
void | updateVoxel (const double x, const double y, const double z, bool occupied) |
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions. | |
void | insertPointCloud (const CPointsMap &ptMap, const float sensor_x, const float sensor_y, const float sensor_z) |
Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference. | |
void | insertRay (const float end_x, const float end_y, const float end_z, const float sensor_x, const float sensor_y, const float sensor_z) |
Just like insertPointCloud but with a single ray. | |
bool | castRay (const mrpt::math::TPoint3D &origin, const mrpt::math::TPoint3D &direction, mrpt::math::TPoint3D &end, bool ignoreUnknownCells=false, double maxRange=-1.0) const |
Performs raycasting in 3d, similar to computeRay(). | |
void | clear () |
Erase all the contents of the map. | |
void | loadFromProbabilisticPosesAndObservations (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. | |
void | loadFromSimpleMap (const mrpt::maps::CSimpleMap &Map) |
Load the map contents from a CSimpleMap object, erasing all previous content of the map. | |
bool | insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL) |
Insert the observation information into this map. | |
bool | insertObservationPtr (const mrpt::obs::CObservationPtr &obs, const mrpt::poses::CPose3D *robotPose=NULL) |
A wrapper for smart pointers, just calls the non-smart pointer version. | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) |
Computes the log-likelihood of a given observation given an arbitrary robot 3D pose. | |
double | computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose2D &takenFrom) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
virtual bool | canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. | |
bool | canComputeObservationLikelihood (const mrpt::obs::CObservationPtr &obs) |
This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. | |
double | computeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf, const mrpt::poses::CPose2D &takenFrom) |
Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame. | |
bool | canComputeObservationsLikelihood (const mrpt::obs::CSensoryFrame &sf) |
Returns true if this map is able to compute a sensible likelihood function for this observation (i.e. | |
virtual void | determineMatching2D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matching between this and another 2D point map, which includes finding: | |
virtual void | determineMatching3D (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, mrpt::utils::TMatchingPairList &correspondences, const TMatchingParams ¶ms, TMatchingExtraResults &extraResults) const |
Computes the matchings between this and another 3D points map - method used in 3D-ICP. | |
virtual float | compute3DMatchingRatio (const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams ¶ms) 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. | |
virtual void | auxParticleFilterCleanUp () |
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation". | |
virtual float | squareDistanceToClosestCorrespondence (float x0, float y0) const |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map. | |
virtual const mrpt::maps::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 mrpt::maps::CSimplePointsMap * | getAsSimplePointsMap () |
Direct access to octomap library methods | |
double | getResolution () const |
unsigned int | getTreeDepth () const |
size_t | size () const |
size_t | memoryUsage () const |
size_t | memoryUsageNode () const |
size_t | memoryFullGrid () const |
double | volume () const |
void | getMetricSize (double &x, double &y, double &z) |
Size of OcTree (all known space) in meters for x, y and z dimension. | |
void | getMetricSize (double &x, double &y, double &z) const |
Size of OcTree (all known space) in meters for x, y and z dimension. | |
void | getMetricMin (double &x, double &y, double &z) |
minimum value of the bounding box of all known space in x, y, z | |
void | getMetricMin (double &x, double &y, double &z) const |
minimum value of the bounding box of all known space in x, y, z | |
void | getMetricMax (double &x, double &y, double &z) |
maximum value of the bounding box of all known space in x, y, z | |
void | getMetricMax (double &x, double &y, double &z) const |
maximum value of the bounding box of all known space in x, y, z | |
size_t | calcNumNodes () const |
Traverses the tree to calculate the total number of nodes. | |
size_t | getNumLeafNodes () const |
Traverses the tree to calculate the total number of leaf nodes. | |
Public Attributes | |
TInsertionOptions | insertionOptions |
The options used when inserting observations in the map. | |
TLikelihoodOptions | likelihoodOptions |
TRenderingOptions | renderingOptions |
TMapGenericParams | genericMapParams |
Common params to all maps. | |
Protected Member Functions | |
virtual void | internal_clear () MRPT_OVERRIDE |
Internal method called by clear() | |
bool | internal_build_PointCloud_for_observation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose, octomap::point3d &point3d_sensorPt, octomap::Pointcloud &ptr_scan) const |
Builds the list of 3D points in global coordinates for a generic observation. | |
void | publishEvent (const mrptEvent &e) const |
Called when you want this object to emit an event to all the observers currently subscribed to this object. | |
bool | hasSubscribers () const |
Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read. | |
Protected Attributes | |
OCTREE | m_octomap |
The actual octo-map object. | |
Private Member Functions | |
virtual double | internal_computeObservationLikelihood (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D &takenFrom) MRPT_OVERRIDE |
Internal method called by computeObservationLikelihood() | |
virtual bool | internal_insertObservation (const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)=0 |
Internal method called by insertObservation() | |
virtual bool | internal_canComputeObservationLikelihood (const mrpt::obs::CObservation *obs) |
Internal method called by canComputeObservationLikelihood() | |
virtual void | OnPostSuccesfulInsertObs (const mrpt::obs::CObservation *) |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true. | |
void | internal_observer_begin (CObserver *) |
void | internal_observer_end (CObserver *) |
Private Attributes | |
std::set< CObserver * > | m_subscribers |
RTTI stuff <br> | |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
static const mrpt::utils::TRuntimeClassId | classCMetricMap |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
typedef COctoMapBase<OCTREE,OCTREE_NODE> mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::myself_t |
The type of this MRPT class.
Definition at line 46 of file maps/COctoMapBase.h.
typedef OCTREE_NODE mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::octree_node_t |
The type of nodes in the octree, in the "octomap" library.
Definition at line 48 of file maps/COctoMapBase.h.
typedef OCTREE mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::octree_t |
The type of the octree class in the "octomap" library.
Definition at line 47 of file maps/COctoMapBase.h.
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Constructor, defines the resolution of the octomap (length of each voxel side)
Definition at line 52 of file maps/COctoMapBase.h.
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Definition at line 53 of file maps/COctoMapBase.h.
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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.
Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::CLandmarksMap.
Definition at line 235 of file maps/CMetricMap.h.
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Traverses the tree to calculate the total number of nodes.
Definition at line 284 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
obs | The observation. |
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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Returns true if this map is able to compute a sensible likelihood function for this observation (i.e.
an occupancy grid map cannot with an image).
sf | The observations. |
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::castRay | ( | const mrpt::math::TPoint3D & | origin, |
const mrpt::math::TPoint3D & | direction, | ||
mrpt::math::TPoint3D & | end, | ||
bool | ignoreUnknownCells = false , |
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double | maxRange = -1.0 |
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) | const |
Performs raycasting in 3d, similar to computeRay().
A ray is cast from origin with a given direction, the first occupied cell is returned (as center coordinate). If the starting coordinate is already occupied in the tree, this coordinate will be returned as a hit.
origin | starting coordinate of ray |
direction | A vector pointing in the direction of the raycast. Does not need to be normalized. |
end | returns the center of the cell that was hit by the ray, if successful |
ignoreUnknownCells | whether unknown cells are ignored. If false (default), the raycast aborts when an unkown cell is hit. |
maxRange | Maximum range after which the raycast is aborted (<= 0: no limit, default) |
Definition at line 218 of file COctoMapBase_impl.h.
References end(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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Erase all the contents of the map.
Referenced by mrpt::maps::CRandomFieldGridMap2D::clear(), and mrpt::maps::CReflectivityGridMap2D::clear().
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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.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The 6D pose of the other map as seen from "this". |
params | [IN] Matching parameters |
Reimplemented in mrpt::maps::CBeaconMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CPointsMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CMultiMetricMap, and mrpt::maps::CLandmarksMap.
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This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
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Computes the log-likelihood of a given observation given an arbitrary robot 3D pose.
takenFrom | The robot's pose the observation is supposed to be taken from. |
obs | The observation. |
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Returns the sum of the log-likelihoods of each individual observation within a mrpt::obs::CSensoryFrame.
takenFrom | The robot's pose the observation is supposed to be taken from. |
sf | The set of observations in a CSensoryFrame. |
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Computes the matching between this and another 2D point map, which includes finding:
The algorithm is:
This method is the most time critical one into ICP-like algorithms.
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CMultiMetricMap, mrpt::maps::CBeaconMap, mrpt::maps::COccupancyGridMap2D, and mrpt::maps::CPointsMap.
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Computes the matchings between this and another 3D points map - method used in 3D-ICP.
This method finds the set of point pairs in each map.
The method is the most time critical one into ICP-like algorithms.
The algorithm is:
otherMap | [IN] The other map to compute the matching with. |
otherMapPose | [IN] The pose of the other map as seen from "this". |
params | [IN] Parameters for the determination of pairings. |
correspondences | [OUT] The detected matchings pairs. |
extraResults | [OUT] Other results. |
Reimplemented in mrpt::maps::CPointsMap.
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Returns a 3D object representing the map.
Implements mrpt::maps::CMetricMap.
Definition at line 195 of file maps/COctoMapBase.h.
References mrpt::opengl::COctoMapVoxelsPtr, mrpt::opengl::COctoMapVoxels::Create(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getAsOctoMapVoxels().
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Builds a renderizable representation of the octomap as a mrpt::opengl::COctoMapVoxels object.
Implemented in mrpt::maps::CColouredOctoMap, and mrpt::maps::COctoMap.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getAs3DObject().
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Reimplemented in mrpt::maps::CMultiMetricMap, mrpt::maps::CPointsMap, and mrpt::maps::CSimplePointsMap.
Definition at line 244 of file maps/CMetricMap.h.
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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 in mrpt::maps::CMultiMetricMap, mrpt::maps::CPointsMap, and mrpt::maps::CSimplePointsMap.
Definition at line 243 of file maps/CMetricMap.h.
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maximum value of the bounding box of all known space in x, y, z
Definition at line 279 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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maximum value of the bounding box of all known space in x, y, z
Definition at line 281 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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minimum value of the bounding box of all known space in x, y, z
Definition at line 275 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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minimum value of the bounding box of all known space in x, y, z
Definition at line 277 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Size of OcTree (all known space) in meters for x, y and z dimension.
Definition at line 271 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Size of OcTree (all known space) in meters for x, y and z dimension.
Definition at line 273 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Traverses the tree to calculate the total number of leaf nodes.
Definition at line 287 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Get a reference to the internal octomap object.
Example:
Definition at line 64 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getPointOccupancy | ( | const float | x, |
const float | y, | ||
const float | z, | ||
double & | prob_occupancy | ||
) | const |
Get the occupancy probability [0,1] of a point.
Definition at line 190 of file COctoMapBase_impl.h.
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Definition at line 259 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Reimplemented in mrpt::maps::CBeaconMap, mrpt::maps::CColouredOctoMap, mrpt::maps::CColouredPointsMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::COccupancyGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CPointsMap, mrpt::maps::CRandomFieldGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CSimplePointsMap, mrpt::maps::CWeightedPointsMap, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CMultiMetricMap, and mrpt::maps::CLandmarksMap.
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Definition at line 260 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Can be called by a derived class before preparing an event for publishing with publishEvent to determine if there is no one subscribed, so it can save the wasted time preparing an event that will be not read.
Definition at line 52 of file CObservable.h.
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Insert the observation information into this map.
This method must be implemented in derived classes.
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 the origin. |
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A wrapper for smart pointers, just calls the non-smart pointer version.
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertPointCloud | ( | const CPointsMap & | ptMap, |
const float | sensor_x, | ||
const float | sensor_y, | ||
const float | sensor_z | ||
) |
Update the octomap with a 2D or 3D scan, given directly as a point cloud and the 3D location of the sensor (the origin of the rays) in this map's frame of reference.
Insertion parameters can be found in insertionOptions.
Definition at line 205 of file COctoMapBase_impl.h.
References mrpt::maps::CPointsMap::getPointsBuffer(), MRPT_END, and MRPT_START.
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Just like insertPointCloud but with a single ray.
Definition at line 231 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertionOptions, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning.
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Builds the list of 3D points in global coordinates for a generic observation.
Used for both, insertObservation() and computeLikelihood().
[out] | point3d_sensorPt | Is a pointer to a "point3D". |
[out] | ptr_scan | Is in fact a pointer to "octomap::Pointcloud". Not declared as such to avoid headers dependencies in user code. |
Definition at line 21 of file COctoMapBase_impl.h.
References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D::composePoint(), mrpt::maps::CPointsMap::getPointFast(), IS_CLASS, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::maps::CPointsMap::size(), mrpt::math::TPoint3Df::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::TPoint3Df::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::TPoint3Df::z.
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Internal method called by canComputeObservationLikelihood()
Reimplemented in mrpt::maps::CMultiMetricMap, and mrpt::maps::COccupancyGridMap2D.
Definition at line 71 of file maps/CMetricMap.h.
References MRPT_UNUSED_PARAM.
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Internal method called by clear()
Implements mrpt::maps::CMetricMap.
Definition at line 293 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Internal method called by computeObservationLikelihood()
Implements mrpt::maps::CMetricMap.
Definition at line 164 of file COctoMapBase_impl.h.
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Internal method called by insertObservation()
Implemented in mrpt::maps::CColouredOctoMap, mrpt::maps::COctoMap, mrpt::maps::CPointsMap, mrpt::maps::CBeaconMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CReflectivityGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CMultiMetricMap, and mrpt::maps::CLandmarksMap.
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Returns true if the map is empty/no observation has been inserted.
Implements mrpt::maps::CMetricMap.
Definition at line 131 of file COctoMapBase_impl.h.
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Check whether the given point lies within the volume covered by the octomap (that is, whether it is "mapped")
Definition at line 208 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
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Load the map contents from a CSimpleMap object, erasing all previous content of the map.
This is automaticed invoking "insertObservation" for each observation at the mean 3D robot pose as given by the "poses::CPosePDF" in the CSimpleMap object.
std::exception | Some internal steps in invoked methods can raise exceptions on invalid parameters, etc... |
Definition at line 105 of file maps/CMetricMap.h.
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Definition at line 268 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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Definition at line 264 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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inline |
Definition at line 266 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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inlineprivatevirtualinherited |
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from insertObservation() when internal_insertObservation returns true.
Reimplemented in mrpt::maps::COccupancyGridMap2D.
Definition at line 79 of file maps/CMetricMap.h.
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protectedinherited |
Called when you want this object to emit an event to all the observers currently subscribed to this object.
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virtual |
This virtual method saves the map to a file "filNamePrefix"+< some_file_extension >, as an image or in any other applicable way (Notice that other methods to save the map may be implemented in classes implementing this virtual interface).
Implements mrpt::maps::CMetricMap.
Definition at line 137 of file COctoMapBase_impl.h.
References mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CSetOfObjectsPtr, and MRPT_START.
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inline |
Definition at line 262 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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virtualinherited |
Returns the square distance from the 2D point (x0,y0) to the closest correspondence in the map.
Reimplemented in mrpt::maps::CPointsMap.
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inline |
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false), using the log-odds parameters in insertionOptions.
Definition at line 219 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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inline |
Definition at line 269 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::m_octomap.
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staticinherited |
Definition at line 57 of file maps/CMetricMap.h.
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inherited |
Common params to all maps.
Definition at line 230 of file maps/CMetricMap.h.
TInsertionOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertionOptions |
The options used when inserting observations in the map.
Definition at line 139 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertRay().
TLikelihoodOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::likelihoodOptions |
Definition at line 160 of file maps/COctoMapBase.h.
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protected |
The actual octo-map object.
Definition at line 302 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::calcNumNodes(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getMetricSize(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getNumLeafNodes(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getOctomap(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getResolution(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::getTreeDepth(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::insertRay(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::internal_clear(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::isPointWithinOctoMap(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryFullGrid(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsage(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::memoryUsageNode(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::size(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::updateVoxel(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::volume().
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privateinherited |
Definition at line 42 of file CObservable.h.
TRenderingOptions mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::renderingOptions |
Definition at line 190 of file maps/COctoMapBase.h.
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