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maps/CSimplePointsMap.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CSimplePointsMap_H
10 #define CSimplePointsMap_H
11 
12 #include <mrpt/maps/CPointsMap.h>
14 #include <mrpt/math/CMatrix.h>
15 #include <mrpt/obs/obs_frwds.h>
16 
17 #include <mrpt/maps/link_pragmas.h>
18 
19 namespace mrpt
20 {
21  namespace maps
22  {
23  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSimplePointsMap , CPointsMap, MAPS_IMPEXP )
24 
25  /** A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
26  * This class only stores the coordinates (x,y,z) of each point.
27  *
28  * See mrpt::maps::CPointsMap and derived classes for other point cloud classes.
29  *
30  * \sa CMetricMap, CWeightedPointsMap, CPoint, mrpt::utils::CSerializable
31  * \ingroup mrpt_maps_grp
32  */
34  {
35  // This must be added to any CSerializable derived class:
37 
38  public:
39  CSimplePointsMap(); //!< Default constructor
40  virtual ~CSimplePointsMap(); //!< Destructor
41 
42  // --------------------------------------------
43  /** @name Pure virtual interfaces to be implemented by any class derived from CPointsMap
44  @{ */
45  virtual void reserve(size_t newLength) MRPT_OVERRIDE; // See base class docs
46  virtual void resize(size_t newLength) MRPT_OVERRIDE; // See base class docs
47  virtual void setSize(size_t newLength) MRPT_OVERRIDE; // See base class docs
48  /** Changes the coordinates of the given point (0-based index), *without* checking for out-of-bounds and *without* calling mark_as_modified() \sa setPoint */
49  virtual void setPointFast(size_t index,float x, float y, float z) MRPT_OVERRIDE;
50  /** The virtual method for \a insertPoint() *without* calling mark_as_modified() */
51  virtual void insertPointFast( float x, float y, float z = 0 ) MRPT_OVERRIDE;
52  /** Virtual assignment operator, to be implemented in derived classes */
53  virtual void copyFrom(const CPointsMap &obj) MRPT_OVERRIDE;
54  /** Get all the data fields for one point as a vector: [X Y Z]
55  * Unlike getPointAllFields(), this method does not check for index out of bounds
56  * \sa getPointAllFields, setPointAllFields, setPointAllFieldsFast
57  */
58  virtual void getPointAllFieldsFast( const size_t index, std::vector<float> & point_data ) const MRPT_OVERRIDE {
59  point_data.resize(3);
60  point_data[0] = x[index];
61  point_data[1] = y[index];
62  point_data[2] = z[index];
63  }
64  /** Set all the data fields for one point as a vector: [X Y Z]
65  * Unlike setPointAllFields(), this method does not check for index out of bounds
66  * \sa setPointAllFields, getPointAllFields, getPointAllFieldsFast
67  */
68  virtual void setPointAllFieldsFast( const size_t index, const std::vector<float> & point_data ) MRPT_OVERRIDE {
69  ASSERTDEB_(point_data.size()==3)
70  x[index] = point_data[0];
71  y[index] = point_data[1];
72  z[index] = point_data[2];
73  }
74 
75  // See CPointsMap::loadFromRangeScan()
76  virtual void loadFromRangeScan(const mrpt::obs::CObservation2DRangeScan &rangeScan,const mrpt::poses::CPose3D *robotPose = NULL) MRPT_OVERRIDE;
77  // See CPointsMap::loadFromRangeScan()
78  virtual void loadFromRangeScan(const mrpt::obs::CObservation3DRangeScan &rangeScan,const mrpt::poses::CPose3D *robotPose = NULL ) MRPT_OVERRIDE;
79 
80  protected:
81  /** Auxiliary method called from within \a addFrom() automatically, to finish the copying of class-specific data */
82  virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE {
83  MRPT_UNUSED_PARAM(anotherMap); MRPT_UNUSED_PARAM(nPreviousPoints);
84  // No extra data.
85  }
86 
87  // Friend methods:
88  template <class Derived> friend struct detail::loadFromRangeImpl;
89  template <class Derived> friend struct detail::pointmap_traits;
90 
91  public:
92 
93 
94  /** @} */
95  // --------------------------------------------
96 
97 
98  /** If the map is a simple points map or it's a multi-metric map that contains EXACTLY one simple points map, return it.
99  * Otherwise, return NULL
100  */
101  virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE { return this; }
102  virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE { return this; }
103 
104  protected:
105  /** Clear the map, erasing all the points.
106  */
107  virtual void internal_clear() MRPT_OVERRIDE;
108 
109  /** @name PLY Import virtual methods to implement in base classes
110  @{ */
111  /** In a base class, reserve memory to prepare subsequent calls to PLY_import_set_vertex */
112  virtual void PLY_import_set_vertex_count(const size_t N) MRPT_OVERRIDE;
113  /** @} */
114 
116  mrpt::maps::CPointsMap::TInsertionOptions insertionOpts; //!< Observations insertion options
117  mrpt::maps::CPointsMap::TLikelihoodOptions likelihoodOpts; //!< Probabilistic observation likelihood options
119 
120  }; // End of class def.
121  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSimplePointsMap , CPointsMap, MAPS_IMPEXP )
122  } // End of namespace
123 
124  namespace utils
125  {
126  /** Specialization mrpt::utils::PointCloudAdapter<mrpt::maps::CSimplePointsMap> \ingroup mrpt_adapters_grp*/
127  template <>
128  class PointCloudAdapter<mrpt::maps::CSimplePointsMap> : public detail::PointCloudAdapterHelperNoRGB<mrpt::maps::CSimplePointsMap,float>
129  {
130  private:
132  public:
133  typedef float coords_t; //!< The type of each point XYZ coordinates
134  static const int HAS_RGB = 0; //!< Has any color RGB info?
135  static const int HAS_RGBf = 0; //!< Has native RGB info (as floats)?
136  static const int HAS_RGBu8 = 0; //!< Has native RGB info (as uint8_t)?
137 
138  /** Constructor (accept a const ref for convenience) */
139  inline PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj) : m_obj(*const_cast<mrpt::maps::CSimplePointsMap*>(&obj)) { }
140  /** Get number of points */
141  inline size_t size() const { return m_obj.size(); }
142  /** Set number of points (to uninitialized values) */
143  inline void resize(const size_t N) { m_obj.resize(N); }
144 
145  /** Get XYZ coordinates of i'th point */
146  template <typename T>
147  inline void getPointXYZ(const size_t idx, T &x,T &y, T &z) const {
148  m_obj.getPointFast(idx,x,y,z);
149  }
150  /** Set XYZ coordinates of i'th point */
151  inline void setPointXYZ(const size_t idx, const coords_t x,const coords_t y, const coords_t z) {
152  m_obj.setPointFast(idx,x,y,z);
153  }
154  }; // end of PointCloudAdapter<mrpt::maps::CPointsMap>
155 
156  }
157 
158 } // End of namespace
159 
160 #endif
float coords_t
The type of each point XYZ coordinates.
#define MAP_DEFINITION_END(_CLASS_NAME_, _LINKAGE_)
virtual const mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() const MRPT_OVERRIDE
If the map is a simple points map or it&#39;s a multi-metric map that contains EXACTLY one simple points ...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
A helper base class for those PointCloudAdapter<> which do not handle RGB data; it declares needed in...
Definition: adapters.h:48
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
void setPointXYZ(const size_t idx, const coords_t x, const coords_t y, const coords_t z)
Set XYZ coordinates of i&#39;th point.
virtual void addFrom_classSpecific(const CPointsMap &anotherMap, const size_t nPreviousPoints) MRPT_OVERRIDE
Auxiliary method called from within addFrom() automatically, to finish the copying of class-specific ...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. ...
virtual void setPointFast(size_t index, float x, float y, float z) MRPT_OVERRIDE
Changes the coordinates of the given point (0-based index), without checking for out-of-bounds and wi...
STL namespace.
With this struct options are provided to the observation insertion process.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
#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.
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define ASSERTDEB_(f)
Defines an assertion mechanism - only when compiled in debug.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
PointCloudAdapter(const mrpt::maps::CSimplePointsMap &obj)
Constructor (accept a const ref for convenience)
void getPointFast(size_t index, float &x, float &y, float &z) const
Just like getPoint() but without checking out-of-bound index and without returning the point weight...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Options used when evaluating "computeObservationLikelihood" in the derived classes.
virtual void resize(size_t newLength) MRPT_OVERRIDE
Resizes all point buffers so they can hold the given number of points: newly created points are set t...
size_t size() const
Returns the number of stored points in the map.
void getPointXYZ(const size_t idx, T &x, T &y, T &z) const
Get XYZ coordinates of i&#39;th point.
virtual mrpt::maps::CSimplePointsMap * getAsSimplePointsMap() MRPT_OVERRIDE
virtual void setPointAllFieldsFast(const size_t index, const std::vector< float > &point_data) MRPT_OVERRIDE
Set all the data fields for one point as a vector: [X Y Z] Unlike setPointAllFields(), this method does not check for index out of bounds.
An adapter to different kinds of point cloud object.
Definition: adapters.h:38
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define MAP_DEFINITION_START(_CLASS_NAME_, _LINKAGE_)
Add a MAP_DEFINITION_START() ...
void resize(const size_t N)
Set number of points (to uninitialized values)



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