52 public
mrpt::utils::CObservable
59 virtual
void internal_clear() = 0;
62 virtual
bool internal_insertObservation(
63 const
mrpt::obs::CObservation *obs,
64 const
mrpt::poses::CPose3D *robotPose = NULL ) = 0;
67 virtual
double internal_computeObservationLikelihood( const
mrpt::obs::CObservation *obs, const
mrpt::poses::CPose3D &takenFrom ) = 0;
69 virtual
bool internal_canComputeObservationLikelihood( const
mrpt::obs::CObservation *obs )
85 virtual bool isEmpty()
const = 0;
115 bool insertObservationPtr(
const mrpt::obs::CObservationPtr &obs,
const mrpt::poses::CPose3D *robotPose = NULL );
137 bool canComputeObservationLikelihood(
const mrpt::obs::CObservationPtr &obs );
179 virtual void determineMatching2D(
204 virtual void determineMatching3D(
221 virtual float compute3DMatchingRatio(
224 float maxDistForCorr = 0.10f,
225 float maxMahaDistForCorr = 2.0f
229 virtual void saveMetricMapRepresentationToFile(
const std::string &filNamePrefix)
const = 0;
233 virtual void getAs3DObject( mrpt::opengl::CSetOfObjectsPtr &outObj )
const = 0;
243 virtual float squareDistanceToClosestCorrespondence(
float x0,
float y0 )
const;
This class stores a sequence of
pairs, thus a "metric map" can be t...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
virtual void auxParticleFilterCleanUp()
This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
TMapGenericParams genericMapParams
Common params to all maps.
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
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 ...
#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...
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
class BASE_IMPEXP CSerializable
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Declares a virtual base class for all metric maps storage classes.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
Common params to all maps derived from mrpt::maps::CMetricMap.
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap()
virtual void OnPostSuccesfulInsertObs(const mrpt::obs::CObservation *)
Hook for each time a "internal_insertObservation" returns "true" This is called automatically from in...
Parameters for the determination of matchings between point clouds, etc.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void loadFromSimpleMap(const mrpt::maps::CSimpleMap &Map)
Load the map contents from a CSimpleMap object, erasing all previous content of the map...