Coverage Control Library
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Public Member Functions | List of all members
WorldIDF Class Reference
Core API

Class for Importance Density Function (IDF) for the world. More...

#include <world_idf.h>

Public Member Functions

 WorldIDF (size_t sz)
 
 WorldIDF (Parameters const &params)
 
 WorldIDF (Parameters const &params, MapType const &world_map)
 
 WorldIDF (Parameters const &params, 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 ()
 

Detailed Description

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 61 of file world_idf.h.

Constructor & Destructor Documentation

◆ WorldIDF() [1/5]

WorldIDF ( size_t sz)
inlineexplicit

Definition at line 103 of file world_idf.h.

◆ WorldIDF() [2/5]

WorldIDF ( Parameters const & params)
inlineexplicit

Definition at line 112 of file world_idf.h.

◆ WorldIDF() [3/5]

WorldIDF ( Parameters const & params,
MapType const & world_map )
inline

Definition at line 116 of file world_idf.h.

◆ WorldIDF() [4/5]

WorldIDF ( Parameters const & params,
std::string const & file_name )
inline

Definition at line 130 of file world_idf.h.

◆ WorldIDF() [5/5]

WorldIDF ( WorldIDF const & other)
inline

Copy constructor to handle deep copy of the world map

Definition at line 174 of file world_idf.h.

Member Function Documentation

◆ AddNormalDistribution() [1/2]

void AddNormalDistribution ( BivariateNormalDistribution const & distribution)
inline

Add Normal distribution to world IDF

Definition at line 214 of file world_idf.h.

◆ AddNormalDistribution() [2/2]

void AddNormalDistribution ( std::vector< BivariateNormalDistribution > const & dists)
inline

Add Normal distributions to world IDF

Definition at line 219 of file world_idf.h.

◆ AddUniformDistributionPolygon()

void AddUniformDistributionPolygon ( PolygonFeature const & poly_feature)
inline

Add a uniform distribution over a polygon to world IDF

Definition at line 209 of file world_idf.h.

◆ GenerateMap()

void GenerateMap ( )
inline

Definition at line 227 of file world_idf.h.

◆ GenerateMapCPU()

void GenerateMapCPU ( )

Fills in values of the world_map_ with the total importance for each cell

Definition at line 41 of file world_idf.cpp.

◆ GetNormalizationFactor()

auto GetNormalizationFactor ( ) const
inline

Definition at line 256 of file world_idf.h.

◆ GetNumFeatures()

auto GetNumFeatures ( ) const
inline

Definition at line 264 of file world_idf.h.

◆ GetSubWorldMap()

void GetSubWorldMap ( Point2 const & pos,
int const sensor_size,
MapType & submap ) const
inline

Definition at line 245 of file world_idf.h.

◆ GetWorldMap()

const MapType & GetWorldMap ( ) const
inline

Definition at line 258 of file world_idf.h.

◆ GetWorldMapMutable()

MapType & GetWorldMapMutable ( )
inline

Definition at line 260 of file world_idf.h.

◆ LoadMap()

void LoadMap ( std::string const & file_name)
inline

Definition at line 195 of file world_idf.h.

◆ operator=()

WorldIDF & operator= ( WorldIDF const & other)
inline

Definition at line 183 of file world_idf.h.

◆ PrintMapSize()

void PrintMapSize ( ) const
inline

Definition at line 251 of file world_idf.h.

◆ WriteDistributions()

int WriteDistributions ( std::string const & file_name) const

Definition at line 166 of file world_idf.cpp.

◆ WriteWorldMap()

int WriteWorldMap ( std::string const & file_name) const
inline

Write the world map to a file

Definition at line 241 of file world_idf.h.