Class CMultiMetricMap

• Defined in File CMultiMetricMap.h

Inheritance Relationships

Base Type

• public mrpt::maps::CMetricMap

Class Documentation

class CMultiMetricMap : public mrpt::maps::CMetricMap

This class stores any customizable set of metric maps. The internal metric maps can be accessed directly by the user as smart pointers with CMultiMetricMap::mapByIndex() or via iterators. The utility of this container is to operate on several maps simultaneously: update them by inserting observations, evaluate the likelihood of one observation by fusing (multiplying) the likelihoods over the different maps, etc.

These kinds of metric maps can be kept inside (list may be incomplete, refer to classes derived from mrpt::maps::CMetricMap):

• mrpt::maps::CSimplePointsMap: For 2D or 3D range scans, …

• mrpt::maps::COccupancyGridMap2D: 2D, horizontal laser range scans, at different altitudes.

• mrpt::maps::COccupancyGridMap3D: 3D occupancy voxel map.

• mrpt::maps::COctoMap: For 3D occupancy grids of variable resolution, with octrees (based on the library octomap).

mrpt::maps::CVoxelMap or mrpt::maps::CVoxelMapRGB: 3D sparse voxel maps.

• mrpt::maps::CColouredOctoMap: The same than above, but nodes can store RGB data appart from occupancy.

• mrpt::maps::CLandmarksMap: For visual landmarks,etc…

• mrpt::maps::CGasConcentrationGridMap2D: For gas concentration maps.

• mrpt::maps::CWirelessPowerGridMap2D: For wifi power maps.

• mrpt::maps::CBeaconMap: For range-only SLAM.

• mrpt::maps::CHeightGridMap2D: For elevation maps of height for each (x,y) location (Digital elevation model, DEM)

• mrpt::maps::CHeightGridMap2D_MRF: DEMs as Markov Random Field (MRF)

• mrpt::maps::CReflectivityGridMap2D: For maps of “reflectivity” for each (x,y) location.

• mrpt::maps::CGenericPointsMap: For point clouds with arbitrary fields.

See CMultiMetricMap::setListOfMaps() for the method for initializing this class programmatically. See also TSetOfMetricMapInitializers::loadFromConfigFile for a template of “.ini”-like configuration file that can be used to define which maps to create and all their parameters. Alternatively, the list of maps is public so it can be directly manipulated/accessed in CMultiMetricMap::maps

Access to list of maps

using TListMaps = std::deque<mrpt::maps::CMetricMap::Ptr>

using iterator = TListMaps::iterator

using const_iterator = TListMaps::const_iterator

TListMaps maps

The list of metric maps in this object. Use dynamic_cast or smart pointer-based downcast to access maps by their actual type. You can directly manipulate this list. Helper methods to initialize it are described in the docs of CMultiMetricMap

inline iterator begin()

inline const_iterator begin() const

inline iterator end()

inline const_iterator end() const

mrpt::maps::CMetricMap::Ptr mapByIndex(size_t idx) const

Gets the i-th map

Throws:

std::runtime_error – On out-of-bounds

template<typename T>
inline T::Ptr mapByClass(size_t ith = 0) const

Returns the i’th map of a given class (or of a derived class), or empty smart pointer if there is no such map. Example:

 COccupancyGridMap2D::Ptr obs =
multimap.mapByClass<COccupancyGridMap2D>();

By default (ith=0), the first match is returned.

template<typename T>
inline std::size_t countMapsByClass() const

Count how many maps exist of the given class (or derived class)

Public Functions

CMultiMetricMap() = default

Default ctor: empty list of maps

CMultiMetricMap(const TSetOfMetricMapInitializers &initializers)

Constructor with a list of map initializers.

Parameters:

initializers – One internal map will be created for each entry in this “TSetOfMetricMapInitializers” struct.

CMultiMetricMap(const CMultiMetricMap &o)

Creates a deep copy

CMultiMetricMap &operator=(const CMultiMetricMap &o)

Creates a deep copy

CMultiMetricMap(CMultiMetricMap&&) = default

Move ctor

CMultiMetricMap &operator=(CMultiMetricMap&&) = default

Move operator

void setListOfMaps(const mrpt::maps::TSetOfMetricMapInitializers &init)

Sets the list of internal map according to the passed list of map initializers (current maps will be deleted)

bool isEmpty() const override

Returns true if all maps returns true in their isEmpty() method

void determineMatching2D(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose2D &otherMapPose, mrpt::tfest::TMatchingPairList &correspondences, const mrpt::maps::TMatchingParams &params, mrpt::maps::TMatchingExtraResults &extraResults) const override

float compute3DMatchingRatio(const mrpt::maps::CMetricMap *otherMap, const mrpt::poses::CPose3D &otherMapPose, const TMatchingRatioParams &params) const override

void saveMetricMapRepresentationToFile(const std::string &filNamePrefix) const override

void auxParticleFilterCleanUp() override

void getVisualizationInto(mrpt::viz::CSetOfObjects &outObj) const override

const mrpt::maps::CSimplePointsMap *getAsSimplePointsMap() const override

std::string asString() const override

Returns a short description of the map.

Protected Functions

void internal_clear() override

bool internal_insertObservation(const mrpt::obs::CObservation &obs, const std::optional<const mrpt::poses::CPose3D> &robotPose) override

bool internal_canComputeObservationLikelihood(const mrpt::obs::CObservation &obs) const override

double internal_computeObservationLikelihood(const mrpt::obs::CObservation &obs, const mrpt::poses::CPose3D &takenFrom) const override