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mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > Class Template Referenceabstract

Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >

Interface for implementing node registration classes.

CNodeRegistrationDecider provides the basic methods that have to exist in every node registration decider class. For an example of inheriting from this class see CFixedIntervalsNRD.

Note
As a naming convention, all the implemented node registration deciders are suffixed with the NRD acronym.

Definition at line 41 of file CNodeRegistrationDecider.h.

#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>

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

Public Types

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > parent_t
 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
 

Public Member Functions

 CNodeRegistrationDecider ()
 Default class constructor. More...
 
virtual ~CNodeRegistrationDecider ()
 Default class destructor. More...
 
virtual global_pose_t getCurrentRobotPosEstimation () const
 Getter method for fetching the currently estimated robot position. More...
 
virtual bool updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
 Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function. More...
 
virtual void getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. 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 loadParams (const std::string &source_fname)
 Load the necessary for the decider/optimizer configuration parameters. More...
 
virtual void printParams () const
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. 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
 

Protected Member Functions

void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
virtual bool checkRegistrationCondition ()
 Check whether a new node should be registered in the graph. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
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

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>
typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::constraint_t

type of graph constraints

Definition at line 50 of file CNodeRegistrationDecider.h.

template<class GRAPH_T>
typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::global_pose_t

Definition at line 53 of file CNodeRegistrationDecider.h.

template<class GRAPH_T>
typedef mrpt::math::CMatrixFixedNumeric<double, constraint_t::state_length, constraint_t::state_length> mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::inf_mat_t

Definition at line 56 of file CNodeRegistrationDecider.h.

Handy typedefs.

Parent of current class

Definition at line 48 of file CNodeRegistrationDecider.h.

template<class GRAPH_T>
typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::pose_t

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

Definition at line 52 of file CNodeRegistrationDecider.h.

Constructor & Destructor Documentation

template<class GRAPH_T >
CNodeRegistrationDecider::CNodeRegistrationDecider ( )
template<class GRAPH_T >
CNodeRegistrationDecider::~CNodeRegistrationDecider ( )
virtual

Default class destructor.

Definition at line 24 of file CNodeRegistrationDecider_impl.h.

Member Function Documentation

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

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 CNodeRegistrationDecider::checkRegistrationCondition ( )
protectedvirtual

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

This should be the key-method in any implementation of this interface. Should call registerNewNodeAtEnd method if the registration condition is satisfied.

Returns
True upon successful node registration in the graph

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >.

Definition at line 42 of file CNodeRegistrationDecider_impl.h.

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
virtual
template<class GRAPH_T >
void CNodeRegistrationDecider::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::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >.

Definition at line 28 of file CNodeRegistrationDecider_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getDescriptiveReport(), MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams ( const std::string source_fname)
virtualinherited
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::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams ( ) const
virtualinherited
template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protected
template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )
protected
template<class GRAPH_T >
void CNodeRegistrationDecider::resetPDF ( constraint_t c)
protected
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>
virtual bool mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
pure virtual

Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function.

Implementations of this interface should use (part of) the specified parameters and call the checkRegistrationCondition to check for potential node registration

Returns
True upon successful node registration in the graph

Implements mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Implemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >.

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>
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
protected

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>
mrpt::utils::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID
protected

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



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