Detailed Description

Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map.

CICP::AlignPDF() or CICP::Align() are the two main entry points of the algorithm.

To choose among existing ICP algorithms or customizing their parameters, see CICP::TConfigParams and the member options.

There exists an extension of the original ICP algorithm that provides multihypotheses-support for the correspondences, and which generates a Sum-of-Gaussians (SOG) PDF as output. See mrpt::tfest::se2_l2_robust()

For further details on the implemented methods, check the web: https://www.mrpt.org/Iterative_Closest_Point_(ICP)_and_other_matching_algorithms

For a paper explaining some of the basic equations, see for example: J. Martinez, J. Gonzalez, J. Morales, A. Mandow, A. Garcia-Cerezo, "Mobile robot motion estimation by 2D scan matching with genetic and iterative closest point algorithms", Journal of Field Robotics, vol. 23, no. 1, pp. 21-34, 2006. ( http://babel.isa.uma.es/~jlblanco/papers/martinez2006gil.pdf )

See also: CMetricMapsAlignmentAlgorithm

Definition at line 64 of file CICP.h.

#include <mrpt/slam/CICP.h>

Inheritance diagram for mrpt::slam::CICP:

Classes
class	TConfigParams
	The ICP algorithm configuration data. More...

struct	TReturnInfo
	The ICP algorithm return information. More...

Public Member Functions
	CICP ()
	Constructor with the default options. More...

	CICP (const TConfigParams &icpParams)
	Constructor that directly set the ICP params from a given struct. More...

	~CICP () override=default
	Destructor. More...

mrpt::poses::CPosePDF::Ptr	AlignPDF (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, float runningTime=nullptr, void info=nullptr) override
	An implementation of CMetricMapsAlignmentAlgorithm for the case of a point maps and a occupancy grid/point map. More...

mrpt::poses::CPose3DPDF::Ptr	Align3DPDF (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, float runningTime=nullptr, void info=nullptr) override
	The virtual method for aligning a pair of metric maps, aligning the full 6D pose. More...

mrpt::poses::CPosePDF::Ptr	Align (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPose2D &grossEst, float runningTime=nullptr, void info=nullptr)
	The method for aligning a pair of metric maps, aligning only 2D + orientation. More...

mrpt::poses::CPose3DPDF::Ptr	Align3D (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPose3D &grossEst, float runningTime=nullptr, void info=nullptr)
	The method for aligning a pair of metric maps, aligning the full 6D pose. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
TConfigParams	options
	The options employed by the ICP align. More...

Protected Member Functions
float	kernel (const float &x2, const float &rho2)
	Computes: $K(x^2) = \frac{x^2}{x^2+\rho^2}$ or just return the input if options.useKernel = false. More...

mrpt::poses::CPosePDF::Ptr	ICP_Method_Classic (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)

mrpt::poses::CPosePDF::Ptr	ICP_Method_LM (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPosePDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)

mrpt::poses::CPose3DPDF::Ptr	ICP3D_Method_Classic (const mrpt::maps::CMetricMap m1, const mrpt::maps::CMetricMap m2, const mrpt::poses::CPose3DPDFGaussian &initialEstimationPDF, TReturnInfo &outInfo)

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...

void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

Constructor & Destructor Documentation

◆ CICP() [1/2]

mrpt::slam::CICP::CICP ( )

inline

Constructor with the default options.

Definition at line 183 of file CICP.h.

◆ CICP() [2/2]

mrpt::slam::CICP::CICP ( const TConfigParams & icpParams )

inline

Constructor that directly set the ICP params from a given struct.

See also: options

Definition at line 186 of file CICP.h.

◆ ~CICP()

mrpt::slam::CICP::~CICP ( )

overridedefault

Destructor.

Member Function Documentation

◆ Align()

CPosePDF::Ptr CMetricMapsAlignmentAlgorithm::Align	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPose2D &	grossEst,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

inherited

The method for aligning a pair of metric maps, aligning only 2D + orientation.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters

m1	[IN] The first map
m2	[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst	[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to `CPose2D(0,0,0)` for example.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it.
info	[OUT] See derived classes for details, or nullptr if it isn't needed.

Returns: A smart pointer to the output estimated pose PDF.

See also: CICP

Definition at line 25 of file CMetricMapsAlignmentAlgorithm.cpp.

Referenced by ICPTests::align2scans(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ Align3D()

CPose3DPDF::Ptr CMetricMapsAlignmentAlgorithm::Align3D	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPose3D &	grossEst,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

inherited

The method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters and the kind of the maps to be aligned are implementation dependant, so look into the derived classes for instructions. The target is to find a PDF for the pose displacement between maps, thus the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Parameters

m1	[IN] The first map
m2	[IN] The second map. The pose of this map respect to m1 is to be estimated.
grossEst	[IN] An initial gross estimation for the displacement. If a given algorithm doesn't need it, set to `CPose3D(0,0,0)` for example.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it.
info	[OUT] See derived classes for details, or nullptr if it isn't needed.

Returns: A smart pointer to the output estimated pose PDF.

See also: CICP

Definition at line 36 of file CMetricMapsAlignmentAlgorithm.cpp.

References mrpt::poses::CPose3DPDFGaussian::mean.

Referenced by TEST_F().

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◆ Align3DPDF()

CPose3DPDF::Ptr CICP::Align3DPDF	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPose3DPDFGaussian &	initialEstimationPDF,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

overridevirtual

The virtual method for aligning a pair of metric maps, aligning the full 6D pose.

The meaning of some parameters are implementation dependant, so look at the derived classes for more details. The goal is to find a PDF for the pose displacement between maps, that is, the pose of m2 relative to m1. This pose is returned as a PDF rather than a single value.

Note: This method can be configurated with a "options" structure in the implementation classes.

Parameters

m1	[IN] The first map (MUST BE A COccupancyGridMap2D derived class)
m2	[IN] The second map. (MUST BE A CPointsMap derived class) The pose of this map respect to m1 is to be estimated.
initialEstimationPDF	[IN] An initial gross estimation for the displacement.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it.
info	[OUT] See derived classes for details, or nullptr if it isn't needed.

Returns: A smart pointer to the output estimated pose PDF.

See also: CICP

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 914 of file CICP.cpp.

References mrpt::slam::icpClassic, mrpt::slam::icpLevenbergMarquardt, MRPT_END, MRPT_START, MRPT_TODO, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

◆ AlignPDF()

CPosePDF::Ptr CICP::AlignPDF	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPosePDFGaussian &	initialEstimationPDF,
		float *	runningTime = `nullptr`,
		void *	info = `nullptr`
	)

overridevirtual

An implementation of CMetricMapsAlignmentAlgorithm for the case of a point maps and a occupancy grid/point map.

This method computes the PDF of the displacement (relative pose) between two maps: the relative pose of m2 with respect to m1. This pose is returned as a PDF rather than a single value.

Note: This method can be configurated with "CICP::options"; The output PDF is a CPosePDFGaussian if "doRANSAC=false", or a CPosePDFSOG otherwise.

Parameters

m1	[IN] The first map (CAN BE A mrpt::poses::CPointsMap derived class or a mrpt::slam::COccupancyGrid2D class)
m2	[IN] The second map. (MUST BE A mrpt::poses::CPointsMap derived class)The pose of this map respect to m1 is to be estimated.
initialEstimationPDF	[IN] An initial gross estimation for the displacement.
runningTime	[OUT] A pointer to a container for obtaining the algorithm running time in seconds, or nullptr if you don't need it.
info	[OUT] A pointer to a CICP::TReturnInfo, or nullptr if it isn't needed.

Returns: A smart pointer to the output estimated pose PDF.

See also: CMetricMapsAlignmentAlgorithm, CICP::options, CICP::TReturnInfo

Implements mrpt::slam::CMetricMapsAlignmentAlgorithm.

Definition at line 36 of file CICP.cpp.

References mrpt::slam::icpClassic, mrpt::slam::icpLevenbergMarquardt, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ ICP3D_Method_Classic()

CPose3DPDF::Ptr CICP::ICP3D_Method_Classic	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPose3DPDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)

protected

Definition at line 958 of file CICP.cpp.

References mrpt::maps::TMatchingParams::angularDistPivotPoint, ASSERT_, CLASS_ID, mrpt::maps::TMatchingExtraResults::correspondencesRatio, mrpt::maps::TMatchingParams::decimation_other_map_points, mrpt::rtti::TRuntimeClassId::derivedFrom(), mrpt::maps::CMetricMap::determineMatching3D(), mrpt::maps::CMetricMap::GetRuntimeClass(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, mrpt::maps::TMatchingParams::maxDistForCorrespondence, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, mrpt::maps::TMatchingParams::offset_other_map_points, mrpt::maps::TMatchingParams::onlyKeepTheClosest, mrpt::maps::TMatchingParams::onlyUniqueRobust, mrpt::poses::CPose3D::pitch(), mrpt::slam::CICP::TReturnInfo::quality, mrpt::poses::CPose3D::roll(), mrpt::tfest::se3_l2(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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◆ ICP_Method_Classic()

CPosePDF::Ptr CICP::ICP_Method_Classic	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPosePDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)

protected

Definition at line 181 of file CICP.cpp.

References mrpt::maps::TMatchingParams::angularDistPivotPoint, ASSERT_, mrpt::maps::TMatchingExtraResults::correspondencesRatio, mrpt::maps::TMatchingParams::decimation_other_map_points, mrpt::maps::CMetricMap::determineMatching2D(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::slam::icpCovFiniteDifferences, mrpt::slam::icpCovLinealMSE, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::maps::CMetricMap::isEmpty(), mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, mrpt::maps::TMatchingParams::maxDistForCorrespondence, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, mrpt::maps::TMatchingParams::offset_other_map_points, mrpt::maps::TMatchingParams::onlyKeepTheClosest, mrpt::maps::TMatchingParams::onlyUniqueRobust, mrpt::math::TPose2D::phi, mrpt::poses::CPose2D::phi(), mrpt::slam::CICP::TReturnInfo::quality, results, mrpt::tfest::se2_l2(), mrpt::tfest::se2_l2_robust(), mrpt::square(), THROW_EXCEPTION_FMT, mrpt::math::wrapToPi(), mrpt::math::TPose2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x_incr(), mrpt::math::TPose2D::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y_incr().

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◆ ICP_Method_LM()

CPosePDF::Ptr CICP::ICP_Method_LM	(	const mrpt::maps::CMetricMap *	m1,
		const mrpt::maps::CMetricMap *	m2,
		const mrpt::poses::CPosePDFGaussian &	initialEstimationPDF,
		TReturnInfo &	outInfo
	)

protected

Definition at line 553 of file CICP.cpp.

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ kernel()

float CICP::kernel	(	const float &	x2,
		const float &	rho2
	)

protected

Computes:

$K(x^2) = \frac{x^2}{x^2+\rho^2}$

or just return the input if options.useKernel = false.

Definition at line 171 of file CICP.cpp.

◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ options

TConfigParams mrpt::slam::CICP::options

The options employed by the ICP align.

Definition at line 180 of file CICP.h.

Referenced by ICPTests::align2scans(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and TEST_F().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Logging methods

Constructor & Destructor Documentation

◆ CICP() [1/2]

◆ CICP() [2/2]

◆ ~CICP()

Member Function Documentation

◆ Align()

◆ Align3D()

◆ Align3DPDF()

◆ AlignPDF()

◆ dumpLogToConsole()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ ICP3D_Method_Classic()

◆ ICP_Method_Classic()

◆ ICP_Method_LM()

◆ isLoggingLevelVisible()

◆ kernel()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_min_verbosity_level

◆ options