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

Detailed Description

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

Edge Registration Decider Interface from which RangeScanner-based ERDs can inherit from.

Holds common vars for the underlying classesand provides methods for accessing and modifying them.

Note
Since the decider inherits from the CRangeScanOps class, it parses the configuration parameters of the latter as well from the "ICP" section. Refer to the CRangeScanOps documentation for its list of configuration parameters

Definition at line 22 of file CRangeScanEdgeRegistrationDecider.h.

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

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

Public Types

typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > parent_t
 
typedef mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T > range_ops_t
 Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class. More...
 
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > nodes_to_scans2D_t
 
typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > parent
 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...
 

Public Member Functions

 CRangeScanEdgeRegistrationDecider ()
 
 ~CRangeScanEdgeRegistrationDecider ()
 
virtual bool updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
 Generic method for fetching the incremental action/observation readings from the calling function. More...
 
virtual void getEdgesStats (std::map< std::string, int > *edge_type_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...
 
virtual bool justInsertedLoopClosure () const
 Used by the caller to query for possible loop closures in the last edge registration procedure. 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 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

virtual 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...
 
virtual void printParams () const
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
 
virtual 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...
 
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

nodes_to_scans2D_t m_nodes_to_laser_scans2D
 Map for keeping track of the observation recorded at each graph position. More...
 
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...
 
TParams params
 
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::CEdgeRegistrationDecider< GRAPH_T >::constraint_t
inherited

type of graph constraints

Definition at line 51 of file CEdgeRegistrationDecider.h.

template<class GRAPH_T >
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr> mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::nodes_to_scans2D_t

Definition at line 36 of file CRangeScanEdgeRegistrationDecider.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.

Definition at line 28 of file CRangeScanEdgeRegistrationDecider.h.

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

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

Definition at line 53 of file CEdgeRegistrationDecider.h.

Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class.

Definition at line 33 of file CRangeScanEdgeRegistrationDecider.h.

Constructor & Destructor Documentation

Definition at line 7 of file CRangeScanEdgeRegistrationDecider_impl.h.

Definition at line 11 of file CRangeScanEdgeRegistrationDecider_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>
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 >
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 = 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 CEdgeRegistrationDecider::getDescriptiveReport ( std::string report_str) const
virtualinherited

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::CLoopCloserERD< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 23 of file CEdgeRegistrationDecider_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getDescriptiveReport().

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getDescriptiveReport(), and mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >::justInsertedLoopClosure().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num) const
inlinevirtualinherited

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

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 74 of file CEdgeRegistrationDecider.h.

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::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 = 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::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams ( const std::string source_fname)
protectedvirtual
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::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams ( ) const
protectedvirtual
template<class GRAPH_T >
void CEdgeRegistrationDecider::registerNewEdge ( const mrpt::utils::TNodeID from,
const mrpt::utils::TNodeID to,
const constraint_t rel_edge 
)
protectedvirtualinherited
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 = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
pure virtualinherited

Generic method for fetching the incremental action/observation readings from the calling function.

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

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

Implemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< 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 = 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::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc
protectedinherited
template<class GRAPH_T >
size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes
protected
template<class GRAPH_T >
nodes_to_scans2D_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_nodes_to_laser_scans2D
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::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::CRangeScanOps< GRAPH_T >::params
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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