Main MRPT website > C++ reference for MRPT 1.3.2
Classes | Namespaces | Enumerations
[mrpt-maps]

Detailed Description

Back to list of all libraries | See all modules

Library mrpt-maps


This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.

Interesting starting points:

Please, note that there is another very important map class (mrpt::maps::CMultiMetricMap) which is not in mrpt-maps, but in the library mrpt-slam (the reason is that there is not another reasonable way to factor MRPT into small libraries).

See the list of classes in mrpt::maps

Collaboration diagram for [mrpt-maps]:

Classes

class  mrpt::maps::CBeacon
 The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...
 
struct  mrpt::maps::CBeaconMap::TLikelihoodOptions
 With this struct options are provided to the likelihood computations. More...
 
struct  mrpt::maps::CBeaconMap::TInsertionOptions
 This struct contains data for choosing the method by which new beacons are inserted in the map. More...
 
struct  mrpt::maps::CBeaconMap::TMapDefinitionBase
 
struct  mrpt::maps::CBeaconMap::TMapDefinition
 
class  mrpt::maps::CBeaconMap
 A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More...
 
struct  mrpt::maps::CColouredOctoMap::TMapDefinitionBase
 
struct  mrpt::maps::CColouredOctoMap::TMapDefinition
 
class  mrpt::maps::CColouredOctoMap
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  mrpt::maps::CColouredPointsMap::TColourOptions
 The definition of parameters for generating colors from laser scans. More...
 
struct  mrpt::maps::CColouredPointsMap::TMapDefinitionBase
 
struct  mrpt::maps::CColouredPointsMap::TMapDefinition
 
class  mrpt::maps::CColouredPointsMap
 A map of 2D/3D points with individual colours (RGB). More...
 
struct  mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions
 Parameters related with inserting observations into the map: More...
 
struct  mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell
 
struct  mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable
 
struct  mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase
 
struct  mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition
 
class  mrpt::maps::CGasConcentrationGridMap2D
 CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...
 
struct  mrpt::maps::CLogOddsGridMap2D< TCELL >
 A generic provider of log-odds grid-map maintainance functions. More...
 
struct  mrpt::maps::CLogOddsGridMapLUT< TCELL >
 One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More...
 
struct  mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly
 An internal structure for storing data related to counting the new information apported by some observation. More...
 
struct  mrpt::maps::COccupancyGridMap2D::TEntropyInfo
 Used for returning entropy related information. More...
 
class  mrpt::maps::COccupancyGridMap2D::TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
class  mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions
 With this struct options are provided to the observation likelihood computation process. More...
 
class  mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput
 Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...
 
struct  mrpt::maps::COccupancyGridMap2D::TCriticalPointsList
 The structure used to store the set of Voronoi diagram critical points. More...
 
struct  mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase
 
struct  mrpt::maps::COccupancyGridMap2D::TMapDefinition
 
class  mrpt::maps::COccupancyGridMap2D
 A class for storing an occupancy grid map. More...
 
struct  mrpt::maps::COctoMap::TMapDefinitionBase
 
struct  mrpt::maps::COctoMap::TMapDefinition
 
class  mrpt::maps::COctoMap
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
struct  mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions
 Options used when evaluating "computeObservationLikelihood". More...
 
struct  mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions
 Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels. More...
 
class  mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  mrpt::maps::CPointsMap::TLaserRange2DInsertContext
 Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More...
 
struct  mrpt::maps::CPointsMap::TLaserRange3DInsertContext
 Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More...
 
struct  mrpt::maps::CPointsMap::TInsertionOptions
 With this struct options are provided to the observation insertion process. More...
 
struct  mrpt::maps::CPointsMap::TLikelihoodOptions
 Options used when evaluating "computeObservationLikelihood" in the derived classes. More...
 
struct  mrpt::maps::CPointsMap::LAS_WriteParams
 Optional settings for saveLASFile() More...
 
struct  mrpt::maps::CPointsMap::LAS_LoadParams
 Optional settings for loadLASFile() More...
 
struct  mrpt::maps::CPointsMap::LAS_HeaderInfo
 Extra information gathered from the LAS file header. More...
 
class  mrpt::maps::CPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...
 
struct  mrpt::maps::TRandomFieldCell
 The contents of each cell in a CRandomFieldGridMap2D map. More...
 
struct  mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon
 Parameters common to any derived class. More...
 
struct  mrpt::maps::CRandomFieldGridMap2D::TobservationGMRF
 
class  mrpt::maps::CRandomFieldGridMap2D
 CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...
 
struct  mrpt::maps::CReflectivityGridMap2D::TInsertionOptions
 Parameters related with inserting observations into the map. More...
 
struct  mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase
 
struct  mrpt::maps::CReflectivityGridMap2D::TMapDefinition
 
class  mrpt::maps::CReflectivityGridMap2D
 A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...
 
struct  mrpt::maps::CSimplePointsMap::TMapDefinitionBase
 
struct  mrpt::maps::CSimplePointsMap::TMapDefinition
 
class  mrpt::maps::CSimplePointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  mrpt::maps::CWeightedPointsMap::TMapDefinitionBase
 
struct  mrpt::maps::CWeightedPointsMap::TMapDefinition
 
class  mrpt::maps::CWeightedPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions
 Parameters related with inserting observations into the map: More...
 
struct  mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase
 
struct  mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition
 
class  mrpt::maps::CWirelessPowerGridMap2D
 CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...
 
union  mrpt::opengl::CAngularObservationMesh::TDoubleRange::rd
 Union type with the actual data. More...
 
struct  mrpt::opengl::CAngularObservationMesh::TDoubleRange
 Range specification type, with several uses. More...
 
class  mrpt::opengl::CAngularObservationMesh::FTrace1D< T >
 Internal functor class to trace a ray. More...
 
class  mrpt::opengl::CAngularObservationMesh::FTrace2D< T >
 Internal functor class to trace a set of rays. More...
 
class  mrpt::opengl::CAngularObservationMesh
 A mesh built from a set of 2D laser scan observations. More...
 
class  mrpt::opengl::CPlanarLaserScan
 This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...
 

Namespaces

 mrpt::maps
 
 mrpt::maps::detail
 
 mrpt::opengl
 The namespace for 3D scene representation and rendering.
 

Enumerations

enum  mrpt::maps::CBeacon::TTypePDF { mrpt::maps::CBeacon::pdfMonteCarlo = 0, mrpt::maps::CBeacon::pdfGauss, mrpt::maps::CBeacon::pdfSOG }
 See m_typePDF. More...
 
enum  mrpt::maps::CColouredOctoMap::TColourUpdate { mrpt::maps::CColouredOctoMap::INTEGRATE = 0, mrpt::maps::CColouredOctoMap::SET, mrpt::maps::CColouredOctoMap::AVERAGE }
 This allows the user to select the desired method to update voxels colour. More...
 
enum  mrpt::maps::CColouredPointsMap::TColouringMethod { mrpt::maps::CColouredPointsMap::cmFromHeightRelativeToSensor = 0, mrpt::maps::CColouredPointsMap::cmFromHeightRelativeToSensorJet = 0, mrpt::maps::CColouredPointsMap::cmFromHeightRelativeToSensorGray = 1, mrpt::maps::CColouredPointsMap::cmFromIntensityImage = 2 }
 The choices for coloring schemes: More...
 
enum  mrpt::maps::COccupancyGridMap2D::TLikelihoodMethod {
  mrpt::maps::COccupancyGridMap2D::lmMeanInformation = 0, mrpt::maps::COccupancyGridMap2D::lmRayTracing, mrpt::maps::COccupancyGridMap2D::lmConsensus, mrpt::maps::COccupancyGridMap2D::lmCellsDifference,
  mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_Thrun, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_II, mrpt::maps::COccupancyGridMap2D::lmConsensusOWA
}
 The type for selecting a likelihood computation method. More...
 
enum  mrpt::maps::CRandomFieldGridMap2D::TMapRepresentation {
  mrpt::maps::CRandomFieldGridMap2D::mrKernelDM = 0, mrpt::maps::CRandomFieldGridMap2D::mrAchim = 0, mrpt::maps::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::maps::CRandomFieldGridMap2D::mrKalmanApproximate,
  mrpt::maps::CRandomFieldGridMap2D::mrKernelDMV, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_G, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::maps::CRandomFieldGridMap2D::mrGMRF_L
}
 The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...
 

Enumeration Type Documentation

The choices for coloring schemes:

  • cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will be used to obtain the color using the limits z_min,z_max.
  • cmFromIntensityImage: When inserting 3D range scans, take the color from the intensity image channel, if available.
    See also
    TColourOptions
Enumerator
cmFromHeightRelativeToSensor 
cmFromHeightRelativeToSensorJet 
cmFromHeightRelativeToSensorGray 
cmFromIntensityImage 

Definition at line 216 of file maps/CColouredPointsMap.h.

This allows the user to select the desired method to update voxels colour.

SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn't any previous color, any method is equivalent to SET. INTEGRATE is the default option

Enumerator
INTEGRATE 
SET 
AVERAGE 

Definition at line 47 of file maps/CColouredOctoMap.h.

The type for selecting a likelihood computation method.

Enumerator
lmMeanInformation 
lmRayTracing 
lmConsensus 
lmCellsDifference 
lmLikelihoodField_Thrun 
lmLikelihoodField_II 
lmConsensusOWA 

Definition at line 553 of file maps/COccupancyGridMap2D.h.

The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.

Enumerator
mrKernelDM 
mrAchim 

Another alias for "mrKernelDM", for backwards compatibility.

mrKalmanFilter 
mrKalmanApproximate 
mrKernelDMV 
mrGMRF_G 
mrGMRF_SD 
mrGMRF_L 

Definition at line 131 of file maps/CRandomFieldGridMap2D.h.

See m_typePDF.

Enumerator
pdfMonteCarlo 
pdfGauss 
pdfSOG 

Definition at line 52 of file maps/CBeacon.h.




Page generated by Doxygen 1.8.9.1 for MRPT 1.3.2 SVN:Unversioned directory at Tue Dec 8 09:49:21 UTC 2015