CWirelessPowerGridMap2D.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#ifndef CWirelessPowerGridMap2D_H
#define CWirelessPowerGridMap2D_H

#include <mrpt/slam/CRandomFieldGridMap2D.h>
#include <mrpt/slam/CObservationWirelessPower.h>

#include <mrpt/maps/link_pragmas.h>

namespace mrpt
{
namespace slam
{
        using namespace mrpt::utils;
        using namespace mrpt::poses;
        using namespace mrpt::math;

        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CWirelessPowerGridMap2D , CRandomFieldGridMap2D, MAPS_IMPEXP )

        /** CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
          *
          *  There are a number of methods available to build the wifi grid-map, depending on the value of
          *    "TMapRepresentation maptype" passed in the constructor (see CRandomFieldGridMap2D for a discussion).
          *
          * Update the map with insertIndividualReading() or insertObservation()
          *
          * \sa mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CMetricMap, mrpt::utils::CDynamicGrid, The application icp-slam, mrpt::slam::CMultiMetricMap
          * \ingroup mrpt_maps_grp
          */
        class MAPS_IMPEXP CWirelessPowerGridMap2D : public CRandomFieldGridMap2D
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CWirelessPowerGridMap2D )
        public:
                /** Constructor
                  */
                CWirelessPowerGridMap2D(
                        TMapRepresentation      mapType = mrKernelDM,
            float                               x_min = -2,
                        float                           x_max = 2,
                        float                           y_min = -2,
                        float                           y_max = 2,
                        float                           resolution = 0.1
                        );

                /** Destructor */
                virtual ~CWirelessPowerGridMap2D();


                // See docs in base class
                double   computeObservationLikelihood( const CObservation *obs, const CPose3D &takenFrom );


                /** Parameters related with inserting observations into the map:
                  */
                struct MAPS_IMPEXP TInsertionOptions :
                        public utils::CLoadableOptions,
                        public TInsertionOptionsCommon
                {
                        TInsertionOptions();    //!< Default values loader

                        /** See utils::CLoadableOptions */
                        void  loadFromConfigFile(
                                const mrpt::utils::CConfigFileBase  &source,
                                const std::string &section);

                        void  dumpToTextStream(CStream  &out) const; //!< See utils::CLoadableOptions

                } insertionOptions;


                /** Returns an image just as described in \a saveAsBitmapFile */
                virtual void  getAsBitmapFile(mrpt::utils::CImage &out_img) const;

                /** The implementation in this class just calls all the corresponding method of the contained metric maps.
                  */
                void  saveMetricMapRepresentationToFile(
                        const std::string       &filNamePrefix
                        ) 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  saveAsMatlab3DGraph(const std::string  &filName) const;

                /** Returns a 3D object representing the map.
                  */
                void  getAs3DObject ( mrpt::opengl::CSetOfObjectsPtr    &outObj ) const;

        protected:
                /** Get the part of the options common to all CRandomFieldGridMap2D classes */
                virtual CRandomFieldGridMap2D::TInsertionOptionsCommon * getCommonInsertOptions() {
                        return &insertionOptions;
                }

                 /** Erase all the contents of the map
                  */
                 virtual void  internal_clear();

                 /** Insert the observation information into this map. This method must be implemented
                  *    in derived classes.
                  * \param obs The observation
                  * \param 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)
                  *
                  * \sa CObservation::insertObservationInto
                  */
                 virtual bool  internal_insertObservation( const CObservation *obs, const CPose3D *robotPose = NULL );


        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CWirelessPowerGridMap2D , CRandomFieldGridMap2D, MAPS_IMPEXP )

        } // End of namespace
} // End of namespace

#endif