Coverage Control Library
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Class for Importance Density Function (IDF) for the world. More...
#include <world_idf.h>
Public Member Functions | |
WorldIDF (size_t sz) | |
WorldIDF (Parameters const ¶ms) | |
WorldIDF (Parameters const ¶ms, MapType const &world_map) | |
WorldIDF (Parameters const ¶ms, std::string const &file_name) | |
WorldIDF (WorldIDF const &other) | |
WorldIDF & | operator= (WorldIDF const &other) |
void | LoadMap (std::string const &file_name) |
void | AddUniformDistributionPolygon (PolygonFeature const &poly_feature) |
void | AddNormalDistribution (BivariateNormalDistribution const &distribution) |
void | AddNormalDistribution (std::vector< BivariateNormalDistribution > const &dists) |
void | GenerateMap () |
int | WriteWorldMap (std::string const &file_name) const |
void | GetSubWorldMap (Point2 const &pos, int const sensor_size, MapType &submap) const |
void | PrintMapSize () const |
auto | GetNormalizationFactor () const |
const MapType & | GetWorldMap () const |
MapType & | GetWorldMapMutable () |
int | WriteDistributions (std::string const &file_name) const |
auto | GetNumFeatures () const |
void | GenerateMapCPU () |
Class for Importance Density Function (IDF) for the world.
This class contains the world IDF as a 2D map. The world IDF is computed by integrating the normal distributions over the world. The world IDF is used to compute the importance of each cell in the world. Can use CUDA for faster computation of cell importance.
Definition at line 66 of file world_idf.h.
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Definition at line 166 of file world_idf.h.
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Definition at line 175 of file world_idf.h.
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Definition at line 179 of file world_idf.h.
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Definition at line 193 of file world_idf.h.
Copy constructor to handle deep copy of the world map
Definition at line 237 of file world_idf.h.
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Add Normal distribution to world IDF
Definition at line 277 of file world_idf.h.
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Add Normal distributions to world IDF
Definition at line 282 of file world_idf.h.
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Add a uniform distribution over a polygon to world IDF
Definition at line 272 of file world_idf.h.
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Definition at line 290 of file world_idf.h.
void GenerateMapCPU | ( | ) |
Fills in values of the world_map_ with the total importance for each cell
Definition at line 38 of file world_idf.cpp.
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Definition at line 319 of file world_idf.h.
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Definition at line 327 of file world_idf.h.
Definition at line 308 of file world_idf.h.
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Definition at line 321 of file world_idf.h.
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Definition at line 323 of file world_idf.h.
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Definition at line 258 of file world_idf.h.
Definition at line 246 of file world_idf.h.
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Definition at line 314 of file world_idf.h.
int WriteDistributions | ( | std::string const & | file_name | ) | const |
Definition at line 100 of file world_idf.cpp.
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Write the world map to a file
Definition at line 304 of file world_idf.h.