Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Classes | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Static Protected Attributes
mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T > Class Template Reference

Detailed Description

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

ICP-based Edge Registration.

Description

Register new edges in the graph with the last inserted node. Criterion for adding new edges should be the goodness of the candidate ICP edge. The nodes for ICP are picked based on the distance from the last inserted node.

See also
getNearbyNodesOf

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 111 of file CICPCriteriaERD.h.

#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>

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

Classes

struct  TParams
 

Public Types

typedef GRAPH_T::constraint_t constraint_t
 Handy typedefs. More...
 
typedef GRAPH_T::constraint_t::type_value pose_t
 type of underlying poses (2D/3D). More...
 
typedef CRangeScanEdgeRegistrationDecider< GRAPH_T > parent_t
 
typedef parent_t::range_ops_t range_ops_t
 
typedef CICPCriteriaERD< GRAPH_T > decider_t
 self type - Handy typedef More...
 
typedef parent_t::nodes_to_scans2D_t nodes_to_scans2D_t
 
typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > parent
 Handy typedefs. More...
 

Public Member Functions

 CICPCriteriaERD ()
 
 ~CICPCriteriaERD ()
 
bool updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
 Generic method for fetching the incremental action/observation readings from the calling function. More...
 
void notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
 Get a list of the window events that happened since the last call. More...
 
void getEdgesStats (std::map< std::string, int > *edge_types_to_num) const
 Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More...
 
void initializeVisuals ()
 Initialize visual objects in CDisplayWindow (e.g. More...
 
void updateVisuals ()
 Update the relevant visual features in CDisplayWindow. More...
 
void loadParams (const std::string &source_fname)
 Fetch the latest observation that the current instance received (most probably during a call to the updateState method. 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...
 
virtual bool justInsertedLoopClosure () const
 Used by the caller to query for possible loop closures in the last edge registration procedure. 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 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 checkRegistrationCondition2D (const std::set< mrpt::utils::TNodeID > &nodes_set)
 
void checkRegistrationCondition3D (const std::set< mrpt::utils::TNodeID > &nodes_set)
 
void registerNewEdge (const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to, const constraint_t &rel_edge)
 Register a new constraint/edge in the current graph. More...
 
void checkIfInvalidDataset (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
 
void getNearbyNodesOf (std::set< mrpt::utils::TNodeID > *nodes_set, const mrpt::utils::TNodeID &cur_nodeID, double distance)
 Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID. More...
 
void toggleLaserScansVisualization ()
 togle the LaserScans visualization on and off More...
 
void dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500)
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
void getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)
 Align the 2D range scans provided and fill the potential edge that can transform the one into the other. More...
 
void getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)
 Align the 3D range scans provided and find the potential edge that can transform the one into the other. More...
 
void decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0)
 Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points. More...
 
bool convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScanPtr &scan3D_in, mrpt::obs::CObservation2DRangeScanPtr *scan2D_out=NULL)
 Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More...
 
Registration criteria checks

Check whether a new edge should be registered in the graph.

If condition(s) for edge registration is satisfied, method should call the registerNewEdge method.

virtual void checkRegistrationCondition (mrpt::utils::TNodeID from, mrpt::utils::TNodeID to)
 
virtual void checkRegistrationCondition (const std::set< mrpt::utils::TNodeID > &)
 

Protected Attributes

mrpt::utils::TColor m_search_disk_color
 see Constructor for initialization More...
 
mrpt::utils::TColor m_laser_scans_color
 see Constructor for initialization More...
 
double m_offset_y_search_disk
 
int m_text_index_search_disk
 
std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > m_nodes_to_laser_scans2D
 
std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation3DRangeScanPtr > m_nodes_to_laser_scans3D
 
std::map< std::string, intm_edge_types_to_nums
 
bool m_is_using_3DScan
 
mrpt::obs::CObservation2DRangeScanPtr m_last_laser_scan2D
 
mrpt::obs::CObservation3DRangeScanPtr m_last_laser_scan3D
 
mrpt::obs::CObservation2DRangeScanPtr m_fake_laser_scan2D
 
size_t m_last_total_num_nodes
 Keep track of the total number of registered nodes since the last time class method was called. More...
 
bool m_just_inserted_lc
 
bool m_override_registered_nodes_check
 Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method. 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::CICPCriteriaERD< GRAPH_T >::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 118 of file CICPCriteriaERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef CICPCriteriaERD<GRAPH_T> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::decider_t

self type - Handy typedef

Definition at line 123 of file CICPCriteriaERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef parent_t::nodes_to_scans2D_t mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::nodes_to_scans2D_t

Definition at line 124 of file CICPCriteriaERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent
inherited

Handy typedefs.

Parent of current class

Definition at line 49 of file CEdgeRegistrationDecider.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef CRangeScanEdgeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::parent_t

Definition at line 121 of file CICPCriteriaERD.h.

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

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

Definition at line 120 of file CICPCriteriaERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef parent_t::range_ops_t mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::range_ops_t

Definition at line 122 of file CICPCriteriaERD.h.

Constructor & Destructor Documentation

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

Definition at line 42 of file CICPCriteriaERD_impl.h.

Member Function Documentation

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )
protectedvirtualinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkIfInvalidDataset ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( mrpt::utils::TNodeID  from,
mrpt::utils::TNodeID  to 
)
inlineprotectedvirtualinherited

Definition at line 92 of file CEdgeRegistrationDecider.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( const std::set< mrpt::utils::TNodeID > &  )
inlineprotectedvirtualinherited

Definition at line 95 of file CEdgeRegistrationDecider.h.

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D ( const std::set< mrpt::utils::TNodeID > &  nodes_set)
protected
template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D ( const std::set< mrpt::utils::TNodeID > &  nodes_set)
protected
template<class GRAPH_T >
bool mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan ( mrpt::obs::CObservation3DRangeScanPtr &  scan3D_in,
mrpt::obs::CObservation2DRangeScanPtr *  scan2D_out = NULL 
)
protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns
True if operation was successful, false otherwise

Definition at line 139 of file CRangeScanOps_impl.h.

References mrpt::obs::CObservation2DRangeScan::Create(), MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState().

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap ( mrpt::maps::CPointsMap m,
size_t  keep_point_every = 4,
size_t  low_lim = 0 
)
protectedinherited

Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.

Note
If low_lim is set then the PointsMap will contain at least low_lim measurements, regardless of keep_point_every value. Set low_lim to 0 if no lower limit is to be specified

Definition at line 110 of file CRangeScanOps_impl.h.

References mrpt::maps::CPointsMap::applyDeletionMask(), min, MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::size().

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::dumpVisibilityErrorMsg ( std::string  viz_flag,
int  sleep_time = 500 
)
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 >
void mrpt::graphslam::deciders::CICPCriteriaERD< 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::CEdgeRegistrationDecider< GRAPH_T >.

Definition at line 551 of file CICPCriteriaERD_impl.h.

References mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getDescriptiveReport(), mrpt::utils::CTimeLogger::getStatsAsText(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep.

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num) const
virtual

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

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

Definition at line 364 of file CICPCriteriaERD_impl.h.

References mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums, MRPT_END, and MRPT_START.

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge ( const mrpt::obs::CObservation2DRangeScan from,
const mrpt::obs::CObservation2DRangeScan to,
constraint_t rel_edge,
const mrpt::poses::CPose2D initial_pose = NULL,
mrpt::slam::CICP::TReturnInfo icp_info = NULL 
)
protectedinherited

Align the 2D range scans provided and fill the potential edge that can transform the one into the other.

User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 16 of file CRangeScanOps_impl.h.

References info, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge().

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge ( const mrpt::obs::CObservation3DRangeScan from,
const mrpt::obs::CObservation3DRangeScan to,
constraint_t rel_edge,
const mrpt::poses::CPose2D initial_pose = NULL,
mrpt::slam::CICP::TReturnInfo icp_info = NULL 
)
protectedinherited

Align the 3D range scans provided and find the potential edge that can transform the one into the other.

Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 54 of file CRangeScanOps_impl.h.

References ASSERTMSG_, mrpt::mrpt::format(), mrpt::obs::CObservation3DRangeScan::hasRangeImage, info, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, and MRPT_START.

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf ( std::set< mrpt::utils::TNodeID > *  nodes_set,
const mrpt::utils::TNodeID cur_nodeID,
double  distance 
)
protected

Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID.

Definition at line 296 of file CICPCriteriaERD_impl.h.

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

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState().

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers ( const std::string name)
virtualinherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals ( )
virtual

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Exceptions
std::exceptionIf the method is called without having first provided a CDisplayWindow3D* to the class instance
See also
setWindowManagerPtr, updateVisuals

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

Definition at line 374 of file CICPCriteriaERD_impl.h.

References mrpt::utils::TColor::A, mrpt::graphslam::CWindowManager::addTextMessage(), ASSERTMSG_, mrpt::graphslam::CWindowManager::assignTextMessageParameters(), mrpt::utils::TColor::B, mrpt::opengl::CPlanarLaserScan::Create(), mrpt::utils::CTimeLogger::enter(), mrpt::gui::CDisplayWindow3D::forceRepaint(), mrpt::mrpt::format(), mrpt::utils::TColor::G, mrpt::gui::CDisplayWindow3D::get3DSceneAndLock(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals(), mrpt::utils::CTimeLogger::leave(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_laser_scans_color, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_offset_y_search_disk, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_search_disk_color, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_text_index_search_disk, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer, MRPT_END, MRPT_START, mrpt::utils::TColor::R, mrpt::graphslam::CWindowObserver::registerKeystroke(), and mrpt::gui::CDisplayWindow3D::unlockAccess3DScene().

template<class GRAPH_T >
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )
inherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::justInsertedLoopClosure ( ) const
inlinevirtualinherited

Used by the caller to query for possible loop closures in the last edge registration procedure.

Definition at line 79 of file CEdgeRegistrationDecider.h.

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams ( const std::string source_fname)
virtual

Fetch the latest observation that the current instance received (most probably during a call to the updateState method.

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

Definition at line 522 of file CICPCriteriaERD_impl.h.

References mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), MRPT_END, MRPT_START, and mrpt::utils::CConfigFileBase::read_int().

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

Get a list of the window events that happened since the last call.

Method in derived classes is automatically called from the CGraphSlamEngine_t instance. After that, decider/optimizer should just fetch the parameters that it is interested in.

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

Definition at line 323 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_START, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization().

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< 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::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.

Definition at line 542 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_START, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams().

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge ( const mrpt::utils::TNodeID from,
const mrpt::utils::TNodeID to,
const constraint_t rel_edge 
)
protectedvirtual
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 >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization ( )
protected
template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
virtual
template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals ( )
virtual

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>
std::map<std::string, int> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation2DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_fake_laser_scan2D
protected
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 = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_is_using_3DScan
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::utils::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_laser_scans_color
protected

see Constructor for initialization

Definition at line 211 of file CICPCriteriaERD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation2DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan2D
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation3DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan3D
protected
template<class GRAPH_T >
size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes
protectedinherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::map<mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans2D
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::map<mrpt::utils::TNodeID, mrpt::obs::CObservation3DRangeScanPtr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans3D
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_offset_y_search_disk
protected
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_override_registered_nodes_check
protectedinherited

Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method.

By default set to false.

Definition at line 115 of file CEdgeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::utils::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_search_disk_color
protected

see Constructor for initialization

Definition at line 210 of file CICPCriteriaERD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_text_index_search_disk
protected
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::CICPCriteriaERD< GRAPH_T >::params

Definition at line 177 of file CICPCriteriaERD.h.

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



Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018