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mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T > Class Template Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >

Fixed Intervals Odometry-based Node Registration.

Description

Determine whether to insert a new pose in the graph given the distance and angle thresholds. When the odometry readings indicate that any of the thresholds has been surpassed, with regards to the previous registered pose, a new node is added in the graph.

Current decider is a minimal, simple implementation of the CNodeRegistrationDecider interface which can be used for 2D datasets. Decider does not guarantee thread safety when accessing the GRAPH_T resource. This is handled by the CGraphSlamEngine instance.

Specifications

.ini Configuration Parameters

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

Definition at line 74 of file CFixedIntervalsNRD.h.

#include <mrpt/graphslam/NRD/CFixedIntervalsNRD.h>

Inheritance diagram for mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >:
Inheritance graph

Classes

struct  TParams
 Parameters structure for managing the relevant to the decider variables in a compact manner. More...
 

Public Types

typedef mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > node_reg
 Handy typedefs. More...
 
typedef GRAPH_T::constraint_t constraint_t
 type of graph constraints More...
 
typedef GRAPH_T::constraint_t::type_value pose_t
 type of underlying poses (2D/3D). More...
 
typedef GRAPH_T::global_pose_t global_pose_t
 
typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > inf_mat_t
 
typedef mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > parent_t
 Node Registration Decider. More...
 

Public Member Functions

 CFixedIntervalsNRD ()
 Class constructor. More...
 
 ~CFixedIntervalsNRD ()
 Class destructor. More...
 
void loadParams (const std::string &source_fname)
 Load the necessary for the decider/optimizer configuration parameters. More...
 
void printParams () const
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
 
void getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. More...
 
bool updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
 Method makes use of the CActionCollection/CObservation to update the odometry estimation from the last inserted pose. More...
 
virtual global_pose_t getCurrentRobotPosEstimation () const
 Getter method for fetching the currently estimated robot position. More...
 
virtual void setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
 Fetch a CWindowManager pointer. More...
 
virtual void setCriticalSectionPtr (mrpt::synch::CCriticalSection *graph_section)
 Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource. More...
 
virtual void initializeVisuals ()
 Initialize visual objects in CDisplayWindow (e.g. More...
 
virtual void updateVisuals ()
 Update the relevant visual features in CDisplayWindow. More...
 
virtual void notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
 Get a list of the window events that happened since the last call. More...
 
virtual void setGraphPtr (GRAPH_T *graph)
 Fetch the graph on which the decider/optimizer will work on. More...
 
virtual void initializeLoggers (const std::string &name)
 Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand. More...
 
virtual void setClassName (const std::string &name)
 
bool isMultiRobotSlamClass ()
 
std::string getClassName () const
 

Public Attributes

TParams params
 

Protected Member Functions

void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
Registration Conditions Specifiers
bool checkRegistrationCondition ()
 If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph. More...
 
bool checkRegistrationCondition (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2) const
 
bool checkRegistrationCondition (const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2) const
 
bool registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
 Utility methods for adding new poses to the graph. More...
 
bool registerNewNodeAtEnd ()
 Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...
 
virtual void addNodeAnnotsToPose (global_pose_t *pose) const
 Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...
 

Protected Attributes

pose_t m_curr_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
pose_t m_last_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
bool m_observation_only_rawlog
 Keep track of whether we are reading from an observation-only rawlog file or from an action-observation rawlog. More...
 
mrpt::utils::TNodeID m_prev_registered_nodeID
 Store the last registered NodeID. More...
 
constraint_t m_since_prev_node_PDF
 Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...
 
inf_mat_t m_init_inf_mat
 Initial information matrix for paths. More...
 
GRAPH_T * m_graph
 Pointer to the graph that is under construction. More...
 
mrpt::synch::CCriticalSectionm_graph_section
 
mrpt::utils::CTimeLogger m_time_logger
 Time logger instance. More...
 
std::string m_class_name
 Name of the class instance. More...
 
bool is_mr_slam_class
 Boolean indicating if the current class can be used in multi-robot SLAM operations. More...
 
Visuals-related variables methods
mrpt::graphslam::CWindowManagerm_win_manager
 Pointer to the CWindowManager object used to store visuals-related instances. More...
 
mrpt::gui::CDisplayWindow3Dm_win
 Window to use. More...
 
mrpt::graphslam::CWindowObserverm_win_observer
 CWindowObserver object for monitoring various visual-oriented events. More...
 
bool m_initialized_visuals
 

Static Protected Attributes

static const std::string header_sep = std::string(80, '-')
 Separator string to be used in debugging messages. More...
 
static const std::string report_sep = std::string(2, '\n')
 

Member Typedef Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::constraint_t

type of graph constraints

Definition at line 87 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::global_pose_t

Definition at line 90 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef mrpt::math::CMatrixFixedNumeric<double, constraint_t::state_length, constraint_t::state_length> mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::inf_mat_t

Definition at line 94 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::node_reg

Handy typedefs.

Node Registration Decider

Definition at line 84 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::parent_t

Node Registration Decider.

Definition at line 96 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::pose_t

type of underlying poses (2D/3D).

Definition at line 89 of file CFixedIntervalsNRD.h.

Constructor & Destructor Documentation

template<class GRAPH_T >
mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::CFixedIntervalsNRD ( )

Class constructor.

Definition at line 19 of file CFixedIntervalsNRD_impl.h.

template<class GRAPH_T >
mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::~CFixedIntervalsNRD ( )

Class destructor.

Definition at line 26 of file CFixedIntervalsNRD_impl.h.

Member Function Documentation

template<class GRAPH_T >
void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t pose) const
protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note
Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 129 of file CNodeRegistrationDecider_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getCurrentRobotPosEstimation().

Referenced by mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd().

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )
protectedvirtualinherited
template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( )
protectedvirtual

If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph.

Returns
True on successful registration.

Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 91 of file CFixedIntervalsNRD_impl.h.

References INVALID_NODEID, MRPT_END, and MRPT_START.

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( const mrpt::poses::CPose2D p1,
const mrpt::poses::CPose2D p2 
) const
protected
template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( const mrpt::poses::CPose3D p1,
const mrpt::poses::CPose3D p2 
) const
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const
inlineinherited

Definition at line 138 of file CRegistrationDeciderOrOptimizer.h.

template<class GRAPH_T >
GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const
virtualinherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::getDescriptiveReport ( std::string report_str) const
virtual

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

  • Timing of important methods
  • Properties fo class at the current time
  • Logging of commands until current time

Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 175 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers ( const std::string name)
virtualinherited
template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )
virtualinherited
template<class GRAPH_T >
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )
inherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::loadParams ( const std::string source_fname)
virtual

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 144 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, MRPT_START, and mrpt::utils::CConfigFileBase::read_int().

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > &  events_occurred)
virtualinherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::printParams ( ) const
virtual

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 166 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protectedinherited
template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )
protectedinherited
template<class GRAPH_T >
void CNodeRegistrationDecider::resetPDF ( constraint_t c)
protectedinherited
template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string name)
virtualinherited
template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( mrpt::synch::CCriticalSection graph_section)
virtualinherited

Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning
Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn't effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

Definition at line 73 of file CRegistrationDeciderOrOptimizer_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

template<class GRAPH_T>
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr ( GRAPH_T *  graph)
virtualinherited

Fetch the graph on which the decider/optimizer will work on.

Definition at line 124 of file CRegistrationDeciderOrOptimizer_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph, and MRPT_LOG_DEBUG_STREAM.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager win_manager)
virtualinherited
template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
virtual

Method makes use of the CActionCollection/CObservation to update the odometry estimation from the last inserted pose.

Returns
True upon successful node registration in the graph

Implements mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 32 of file CFixedIntervalsNRD_impl.h.

References mrpt::poses::CPose3DPDFGaussian::copyFrom(), IS_CLASS, MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::updateVisuals ( )
virtualinherited

Member Data Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep = std::string(80, '-')
staticprotectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::is_mr_slam_class
protectedinherited

Boolean indicating if the current class can be used in multi-robot SLAM operations.

Definition at line 171 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
pose_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_curr_odometry_only_pose
protected

pose_t estimation using only odometry information.

Handy for observation-only rawlogs.

Definition at line 170 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
GRAPH_T* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph
protectedinherited

Pointer to the graph that is under construction.

Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForLoopClosures(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::checkPartitionsForLC(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeCentroidOfNodesVector(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::execDijkstraProjection(), mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getCurrentRobotPosEstimation(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getNearbyNodesOf(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getPropsOfNodeID(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::mahalanobisDistanceOdometryToICPEdge(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerNewEdge(), mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::synch::CCriticalSection* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section
protectedinherited
template<class GRAPH_T>
inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat
protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 140 of file CNodeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::CNodeRegistrationDecider(), and mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::resetPDF().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
pose_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_last_odometry_only_pose
protected

pose_t estimation using only odometry information.

Handy for observation-only rawlogs.

Definition at line 174 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_observation_only_rawlog
protected

Keep track of whether we are reading from an observation-only rawlog file or from an action-observation rawlog.

Definition at line 178 of file CFixedIntervalsNRD.h.

template<class GRAPH_T>
mrpt::utils::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID
protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 130 of file CNodeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getCurrentRobotPosEstimation(), and mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd().

template<class GRAPH_T>
constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::utils::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger
protectedinherited

Time logger instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::checkPartitionsForLC(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::evaluatePartitionsForLC(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::execDijkstraProjection(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateVisuals().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win
protectedinherited

Window to use.

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initCurrCovarianceVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initMapPartitionsVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::toggleMapPartitionsVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleOptDistanceVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TParams mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::params

Definition at line 142 of file CFixedIntervalsNRD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep = std::string(2, '\n')
staticprotectedinherited



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