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CRegistrationDeciderOrOptimizer_impl.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 
10 #ifndef CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H
11 #define CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H
12 
13 namespace mrpt { namespace graphslam {
14 
15 template<class GRAPH_T>
17 template<class GRAPH_T>
19 
20 template<class GRAPH_T>
22  m_graph(NULL),
23  m_graph_section(NULL),
24  m_win_manager(NULL),
25  m_win(NULL),
26  m_win_observer(NULL),
27  m_initialized_visuals(false),
28  m_class_name("CRegistrationDeciderOrOptimizer"),
29  is_mr_slam_class(false) { }
30 
31 
32 template<class GRAPH_T>
34 
35 }
36 
37 template<class GRAPH_T>
39  const std::string& name) {
40  using namespace std;
41  using namespace mrpt::utils;
42 
43  this->setClassName(name); // all the names in one call
44  this->logging_enable_keep_record = true;
45 
46  // just for the messages until reading the actual verbosity level, set it to debug.
47  this->setMinLoggingLevel(LVL_DEBUG);
48  MRPT_LOG_DEBUG_STREAM("Initialized time, output logger instances." << endl);
49 }
50 
51 template<class GRAPH_T>
53  const std::string& name) {
54  this->m_class_name = name;
55  this->m_time_logger.setName(this->m_class_name);
56  this->setLoggerName(this->m_class_name);
57 }
58 
59 
60 template<class GRAPH_T>
62  mrpt::graphslam::CWindowManager* win_manager) {
63  ASSERT_(win_manager);
64  m_win_manager = win_manager;
65 
66  if (m_win_manager) {
69  }
70 }
71 
72 template<class GRAPH_T>
74  mrpt::synch::CCriticalSection* graph_section) {
75 
76  m_graph_section = graph_section;
77  this->logFmt(mrpt::utils::LVL_DEBUG, "Fetched the CCRiticalSection successfully");
78 }
79 
80 template<class GRAPH_T>
82  this->assertVisualsVars();
83  m_initialized_visuals = true;
84 }
85 
86 template<class GRAPH_T>
88  ASSERTMSG_(this->m_win, "No CDisplayWindow3D* was provided");
89  ASSERTMSG_(this->m_win_manager, "No CWindowManager* was provided");
90  ASSERTMSG_(this->m_win_observer, "No CWindowObserver* was provided");
91 }
92 
93 template<class GRAPH_T>
96 }
97 
98 template<class GRAPH_T>
100  const std::map<std::string, bool>& events_occurred) {
102 }
103 
104 template<class GRAPH_T>
106  const std::string& source_fname) {
107  MRPT_LOG_DEBUG_STREAM("Loading corresponding parameters");
108 }
109 
110 template<class GRAPH_T>
112  MRPT_LOG_DEBUG_STREAM("Printing corresponding parameters");
113 }
114 
115 template<class GRAPH_T>
117  std::string* report_str) const {
118  MRPT_LOG_DEBUG_STREAM("Generating corresponding report");
119  // TODO - give the compact form here!
120 
121 }
122 
123 template<class GRAPH_T>
125  using namespace mrpt::utils;
126 
127  m_graph = graph;
128  MRPT_LOG_DEBUG_STREAM("Fetched the graph pointer successfully");
129 }
130 
131 template<class GRAPH_T>
133  return is_mr_slam_class;
134 }
135 
136 } } // end of namespaces
137 
138 #endif /* end of include guard: CREGISTRATIONDECIDEROROPTIMIZER_IMPL_H */
virtual void printParams() const
Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact w...
virtual void notifyOfWindowEvents(const std::map< std::string, bool > &events_occurred)
Get a list of the window events that happened since the last call.
This class provides simple critical sections functionality.
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
mrpt::gui::CDisplayWindow3D * m_win
Window to use.
virtual void loadParams(const std::string &source_fname)
Load the necessary for the decider/optimizer configuration parameters.
static const std::string header_sep
Separator string to be used in debugging messages.
mrpt::graphslam::CWindowObserver * m_win_observer
CWindowObserver object for monitoring various visual-oriented events.
STL namespace.
bool is_mr_slam_class
Boolean indicating if the current class can be used in multi-robot SLAM operations.
virtual void setGraphPtr(GRAPH_T *graph)
Fetch the graph on which the decider/optimizer will work on.
mrpt::graphslam::CWindowManager * m_win_manager
Pointer to the CWindowManager object used to store visuals-related instances.
mrpt::gui::CDisplayWindow3D * win
CDisplayWindow instance.
mrpt::graphslam::CWindowObserver * observer
CWindowObserver instance.
virtual void initializeVisuals()
Initialize visual objects in CDisplayWindow (e.g.
virtual void getDescriptiveReport(std::string *report_str) const
Fill the provided string with a detailed report of the decider/optimizer state.
GLuint const GLchar * name
Definition: glew.h:1721
virtual void initializeLoggers(const std::string &name)
Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand...
virtual void setWindowManagerPtr(mrpt::graphslam::CWindowManager *win_manager)
Fetch a CWindowManager pointer.
GRAPH_T * m_graph
Pointer to the graph that is under construction.
virtual void assertVisualsVars()
Handy function for making all the visuals assertions in a compact manner.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLsizei const GLcharARB ** string
Definition: glew.h:3293
mrpt::utils::CTimeLogger m_time_logger
Time logger instance.
virtual void updateVisuals()
Update the relevant visual features in CDisplayWindow.
#define ASSERT_(f)
void setName(const std::string &name)
Definition: CTimeLogger.h:94
#define MRPT_LOG_DEBUG_STREAM(__CONTENTS)
#define ASSERTMSG_(f, __ERROR_MSG)
Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWind...
virtual void setCriticalSectionPtr(mrpt::synch::CCriticalSection *graph_section)
Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource.



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