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mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > Class Template Referenceabstract

Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >

Interface for implementing graphSLAM optimizer classes.

Class should provide a generic interface from which real optimizers should inherit so that they abide to the necessary method calls used in the CGraphSlamEngine class. For an example of inheriting from this class see CLevMarqGSO.

Note
As a naming convention, all the implemented graphslam optimizer classes are suffixed with the GSO acronym.

Definition at line 40 of file CGraphSlamOptimizer.h.

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

Inheritance diagram for mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >:
Inheritance graph

Public Types

typedef GRAPH_t::constraint_t constraint_t
 Handy typedefs. More...
 
typedef GRAPH_t::constraint_t::type_value pose_t
 

Public Member Functions

 CGraphSlamOptimizer ()
 
 ~CGraphSlamOptimizer ()
 
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 bool justFullyOptimizedGraph () const
 Used by the caller to query for possible full graph optimization on the latest optimizer run. 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 getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. 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 optimizeGraph ()=0
 method called for optimizing the underlying graph. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 

Protected Attributes

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
 Separator string to be used in debugging messages. More...
 
static const std::string report_sep
 

Member Typedef Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef GRAPH_t::constraint_t mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::constraint_t

Handy typedefs.

Definition at line 46 of file CGraphSlamOptimizer.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
typedef GRAPH_t::constraint_t::type_value mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::pose_t

Definition at line 47 of file CGraphSlamOptimizer.h.

Constructor & Destructor Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::CGraphSlamOptimizer ( )
inline

Definition at line 50 of file CGraphSlamOptimizer.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::~CGraphSlamOptimizer ( )
inline

Definition at line 51 of file CGraphSlamOptimizer.h.

Member Function Documentation

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::assertVisualsVars ( )
protectedvirtualinherited

Handy function for making all the visuals assertions in a compact manner.

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName ( ) const
inlineinherited
virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::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 in mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t >, and mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >.

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::initializeLoggers ( const std::string name)
virtualinherited

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::initializeVisuals ( )
virtualinherited

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
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::isMultiRobotSlamClass ( )
inherited
template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::justFullyOptimizedGraph ( ) const
inlinevirtual

Used by the caller to query for possible full graph optimization on the latest optimizer run.

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >.

Definition at line 70 of file CGraphSlamOptimizer.h.

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::loadParams ( const std::string source_fname)
virtualinherited

Load the necessary for the decider/optimizer configuration parameters.

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::notifyOfWindowEvents ( const std::map< std::string, bool > &  events_occurred)
virtualinherited

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.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::optimizeGraph ( )
protectedpure virtual
virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::printParams ( ) const
virtualinherited

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

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::setClassName ( const std::string name)
virtualinherited
virtual 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.
virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::setGraphPtr ( GRAPH_t *  graph)
virtualinherited

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

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager win_manager)
virtualinherited

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
pure virtual

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 optimizeGraph function if the decision is to optimize the provided graph

Returns
True if the optimization procedure was executed.

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

Implemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::optimizers::CEmptyGSO< GRAPH_T >.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep(), and mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_T >::~CGraphSlamOptimizer().

virtual void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::updateVisuals ( )
virtualinherited

Update the relevant visual features in CDisplayWindow.

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

Member Data Documentation

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::header_sep
staticprotectedinherited

Separator string to be used in debugging messages.

Definition at line 175 of file CRegistrationDeciderOrOptimizer.h.

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.

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::m_class_name
protectedinherited

Name of the class instance.

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

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.

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::m_initialized_visuals
protectedinherited

Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.

mrpt::utils::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::m_time_logger
protectedinherited

Time logger instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

Window to use.

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

Pointer to the CWindowManager object used to store visuals-related instances.

Definition at line 155 of file CRegistrationDeciderOrOptimizer.h.

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 160 of file CRegistrationDeciderOrOptimizer.h.

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::report_sep
staticprotectedinherited

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.




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