CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D:

Collaboration diagram for mrpt::slam::CGasConcentrationGridMap2D:

Classes
struct	TInsertionOptions
	Parameters related with inserting observations into the map: More...
Public Types
enum	TMapRepresentation { mrAchim = 0, mrKalmanFilter, mrKalmanApproximate, mrKalmanApproximate_deconv }
	The type of map representation to be used. More...
Public Member Functions
float	cell2float (const TGasConcentrationCell &c) const
	CGasConcentrationGridMap2D (TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
	Constructor.
void	clear ()
	Erase all the contents of the map.
bool	isEmpty () const
	Returns true if the map is empty/no observation has been inserted.
bool	insertObservation (const CObservation obs, const CPose3D robotPose=NULL)
	Insert the observation information into this map.
double	computeObservationLikelihood (const CObservation *obs, const CPose3D &takenFrom)
	Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.
void	saveAsBitmapFile (const std::string &filName) const
	Save the current map as a graphical file (BMP,PNG,...).
void	resize (float new_x_min, float new_x_max, float new_y_min, float new_y_max, const TGasConcentrationCell &defaultValueNewCells, float additionalMarginMeters=1.0f)
	Changes the size of the grid, maintaining previous contents.
float	compute3DMatchingRatio (const CMetricMap *otherMap, const CPose3D &otherMapPose, float minDistForCorr=0.10f, float minMahaDistForCorr=2.0f) 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.
void	saveMetricMapRepresentationToFile (const std::string &filNamePrefix) const
	The implementation in this class just calls all the corresponding method of the contained metric maps.
void	saveAsMatlab3DGraph (const std::string &filName) const
	Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.
void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const
	Returns a 3D object representing the map.
void	auxParticleFilterCleanUp ()
	This method is called at the end of each "prediction-update-map insertion" cycle within "mrpt::slam::CMetricMapBuilderRBPF::processActionObservation".
TMapRepresentation	getMapType ()
	Return the type of the gas distribution map, according to parameters passed on construction.
void	predictMeasurement (const double &x, const double &y, double &out_predict_response, double &out_predict_response_variance)
	Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).
void	getMeanAndCov (vector_double &out_means, CMatrixDouble &out_cov) const
	Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).
Public Attributes
mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions	insertionOptions
	Parameters related with inserting observations into the map:
Protected Member Functions
void	insertObservation_Achim (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Achim's map model.
void	insertObservation_KF (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the (whole) Kalman Filter map model.
void	insertObservation_KF2 (float normReading, const CPose3D &sensorPose)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model.
void	insertObservation_KF3 (float normReading, const CPose3D &sensorPose, const CObservationGasSensors::TObservationENose *o, const mrpt::system::TTimeStamp timestamp)
	The implementation of "insertObservation" for the Efficient Kalman Filter map model with estimation of real gas concentration using sensor model.
float	CGasConcentration_estimation (float reading, const CObservationGasSensors::TObservationENose *o, const mrpt::system::TTimeStamp timestamp)
	Estimates the gas concentration based on readings and sensor model.
float	getReadingsNorm (const CObservationGasSensors::TObservationENose *o)
	Return the sensor reading according to KF_sensorType after being normallized.
void	recoverMeanAndCov () const
	In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.
Static Protected Member Functions
static float	computeAchimCellValue (const TGasConcentrationCell *cell)
	Computes the average cell concentration, or 0 if it has never been observed:
Protected Attributes
TMapRepresentation	m_mapType
	The map representation type of this map.
CMatrixD	m_cov
	The whole covariance matrix, used for the Kalman Filter map representation.
CMatrixD	m_stackedCov
	The compressed band diagonal matrix for the KF2 implementation.
bool	m_hasToRecoverMeanAndCov
	Only for the KF2 implementation.
Private Types
typedef utils::CDynamicGrid < TGasConcentrationCell >	BASE

Detailed Description

CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.

Definition at line 77 of file CGasConcentrationGridMap2D.h.

Member Typedef Documentation

typedef utils::CDynamicGrid<TGasConcentrationCell> mrpt::slam::CGasConcentrationGridMap2D::BASE [private]

Definition at line 79 of file CGasConcentrationGridMap2D.h.

Member Enumeration Documentation

enum mrpt::slam::CGasConcentrationGridMap2D::TMapRepresentation

The type of map representation to be used.

Enumerator:

mrAchim
mrKalmanFilter
mrKalmanApproximate
mrKalmanApproximate_deconv

Definition at line 93 of file CGasConcentrationGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D	(	TMapRepresentation	mapType = `mrAchim`,
		float	x_min = `-2`,
		float	x_max = `2`,
		float	y_min = `-2`,
		float	y_max = `2`,
		float	resolution = `0.1`
	)

Constructor.

Member Function Documentation

void mrpt::slam::CGasConcentrationGridMap2D::auxParticleFilterCleanUp ( )

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.

float mrpt::slam::CGasConcentrationGridMap2D::cell2float ( const TGasConcentrationCell & c ) const [inline]

Definition at line 85 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::CGasConcentration_estimation	(	float	reading,
		const CObservationGasSensors::TObservationENose *	o,
		const mrpt::system::TTimeStamp	timestamp
	)			`[protected]`

Estimates the gas concentration based on readings and sensor model.

void mrpt::slam::CGasConcentrationGridMap2D::clear ( )

Erase all the contents of the map.

Reimplemented from mrpt::utils::CDynamicGrid< TGasConcentrationCell >.

float mrpt::slam::CGasConcentrationGridMap2D::compute3DMatchingRatio	(	const CMetricMap *	otherMap,
		const CPose3D &	otherMapPose,
		float	minDistForCorr = `0.10f`,
		float	minMahaDistForCorr = `2.0f`
	)			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.

This method always return 0 for grid maps.

Parameters:

	otherMap	[IN] The other map to compute the matching with.
	otherMapPose	[IN] The 6D pose of the other map as seen from "this".
	minDistForCorr	[IN] The minimum distance between 2 non-probabilistic map elements for counting them as a correspondence.
	minMahaDistForCorr	[IN] The minimum Mahalanobis distance between 2 probabilistic map elements for counting them as a correspondence.

Returns:: The matching ratio [0,1]

See also:: computeMatchingWith2D

static float mrpt::slam::CGasConcentrationGridMap2D::computeAchimCellValue ( const TGasConcentrationCell * cell ) [static, protected]

Computes the average cell concentration, or 0 if it has never been observed:

double mrpt::slam::CGasConcentrationGridMap2D::computeObservationLikelihood	(	const CObservation *	obs,
		const CPose3D &	takenFrom
	)

Computes the likelihood that a given observation was taken from a given pose in the world being modeled with this map.

Parameters:

	takenFrom	The robot's pose the observation is supposed to be taken from.
	obs	The observation.

Returns:: This method returns a likelihood in the range [0,1].

See also:: Used in particle filter algorithms, see: CMultiMetricMapPDF::update

void mrpt::slam::CGasConcentrationGridMap2D::getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr & outObj ) const

Returns a 3D object representing the map.

TMapRepresentation mrpt::slam::CGasConcentrationGridMap2D::getMapType ( )

Return the type of the gas distribution map, according to parameters passed on construction.

void mrpt::slam::CGasConcentrationGridMap2D::getMeanAndCov	(	vector_double &	out_means,
		CMatrixDouble &	out_cov
	)			const

Return the mean and covariance vector of the full Kalman filter estimate (works for all KF-based methods).

float mrpt::slam::CGasConcentrationGridMap2D::getReadingsNorm ( const CObservationGasSensors::TObservationENose * o ) [protected]

Return the sensor reading according to KF_sensorType after being normallized.

bool mrpt::slam::CGasConcentrationGridMap2D::insertObservation	(	const CObservation *	obs,
		const CPose3D *	robotPose = `NULL`
	)

Insert the observation information into this map.

This method must be implemented in derived classes.

Parameters:

	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 CPose2D(0,0,deg)

See also:: CObservation::insertObservationInto

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_Achim	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the Achim's map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the (whole) Kalman Filter map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF2	(	float	normReading,
		const CPose3D &	sensorPose
	)			`[protected]`

The implementation of "insertObservation" for the Efficient Kalman Filter map model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

void mrpt::slam::CGasConcentrationGridMap2D::insertObservation_KF3	(	float	normReading,
		const CPose3D &	sensorPose,
		const CObservationGasSensors::TObservationENose *	o,
		const mrpt::system::TTimeStamp	timestamp
	)			`[protected]`

The implementation of "insertObservation" for the Efficient Kalman Filter map model with estimation of real gas concentration using sensor model.

Parameters:

	normReading	Is a [0,1] normalized concentration reading.
	sensorPose	Is the sensor pose

bool mrpt::slam::CGasConcentrationGridMap2D::isEmpty ( ) const

Returns true if the map is empty/no observation has been inserted.

void mrpt::slam::CGasConcentrationGridMap2D::predictMeasurement	(	const double &	x,
		const double &	y,
		double &	out_predict_response,
		double &	out_predict_response_variance
	)

Returns the prediction of the measurement at some (x,y) coordinates, and its certainty (in the form of the expected variance).

This methods is implemented differently for the different gas map types.

void mrpt::slam::CGasConcentrationGridMap2D::recoverMeanAndCov ( ) const [protected]

In the KF2 implementation, takes the auxiliary matrices and from them update the cells' mean and std values.

See also:: m_hasToRecoverMeanAndCov

void mrpt::slam::CGasConcentrationGridMap2D::resize	(	float	new_x_min,
		float	new_x_max,
		float	new_y_min,
		float	new_y_max,
		const TGasConcentrationCell &	defaultValueNewCells,
		float	additionalMarginMeters = `1.0f`
	)

Changes the size of the grid, maintaining previous contents.

See also:: setSize

void mrpt::slam::CGasConcentrationGridMap2D::saveAsBitmapFile ( const std::string & filName ) const

Save the current map as a graphical file (BMP,PNG,...).

The file format will be derived from the file extension (see CImage::saveToFile ) It depends on the map representation model: mrAchim: Each pixel is the ratio $\sum{\frac{wR}{w}}$ mrKalmanFilter: Each pixel is the mean value of the Gaussian that represents each cell. mrInformationFilter: Id.

void mrpt::slam::CGasConcentrationGridMap2D::saveAsMatlab3DGraph ( const std::string & filName ) const

Save a matlab ".m" file which represents as 3D surfaces the mean and a given confidence level for the concentration of each cell.

This method can only be called in a KF map model.

void mrpt::slam::CGasConcentrationGridMap2D::saveMetricMapRepresentationToFile ( const std::string & filNamePrefix ) const

The implementation in this class just calls all the corresponding method of the contained metric maps.

Member Data Documentation

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions mrpt::slam::CGasConcentrationGridMap2D::insertionOptions

Parameters related with inserting observations into the map:

CMatrixD mrpt::slam::CGasConcentrationGridMap2D::m_cov [protected]

The whole covariance matrix, used for the Kalman Filter map representation.

Definition at line 296 of file CGasConcentrationGridMap2D.h.

bool mrpt::slam::CGasConcentrationGridMap2D::m_hasToRecoverMeanAndCov [mutable, protected]

Only for the KF2 implementation.

Definition at line 362 of file CGasConcentrationGridMap2D.h.

TMapRepresentation mrpt::slam::CGasConcentrationGridMap2D::m_mapType [protected]

The map representation type of this map.

Definition at line 292 of file CGasConcentrationGridMap2D.h.

CMatrixD mrpt::slam::CGasConcentrationGridMap2D::m_stackedCov [protected]

The compressed band diagonal matrix for the KF2 implementation.

The format is a Nx(W^2+2W+1) matrix, one row per cell in the grid map with the cross-covariances between each cell and half of the window around it in the grid.

Definition at line 360 of file CGasConcentrationGridMap2D.h.

mrpt::slam::CGasConcentrationGridMap2D Class Reference

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Types

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation