Detailed Description

An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).

The main entry points for a user are pushAction() and pushObservations(). Several parameters can be modified through m_options.

The mathematical models of this approach have been reported in:

Blanco J.L., Fernandez-Madrigal J.A., and Gonzalez J., "Towards a Unified Bayesian Approach to Hybrid Metric-Topological SLAM", in IEEE Transactions on Robotics (TRO), Vol. 24, No. 2, April 2008.
...

More information in the wiki page: https://www.mrpt.org/HMT-SLAM . A complete working application can be found in "MRPT/apps/hmt-slam".

The complete state of the SLAM framework is serializable, so it can be saved and restore to/from a binary dump. This class implements mrpt::serialization::CSerializable, so it can be saved with "stream << slam_object;" and restored with "stream >> slam_object;". Alternatively, the methods CHMTSLAM::saveState and CHMTSLAM::loadState can be invoked, which in turn call internally to the CSerializable interface.

See also: CHierarchicalMHMap

Definition at line 67 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM:

Classes
struct	TMessageLSLAMfromAA
	Message definition: More...

struct	TMessageLSLAMfromTBI
	Message definition: More...

struct	TMessageLSLAMtoTBI
	Message definition: More...

struct	TOptions
	A variety of options and configuration params (private, use loadOptions). More...

Public Member Functions
	CHMTSLAM ()
	Default constructor. More...

	CHMTSLAM (const CHMTSLAM &)

const CHMTSLAM &	operator= (const CHMTSLAM &)

	~CHMTSLAM () override
	Destructor. More...

bool	abortedDueToErrors ()
	Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on. More...

void	generateLogFiles (unsigned int nIteration)
	Called from LSLAM thread when log files must be created. More...

void	getAs3DScene (mrpt::opengl::COpenGLScene &outScene)
	Gets a 3D representation of the current state of the whole mapping framework. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

High-level map management
void	loadOptions (const std::string &configFile)
	Loads the options from a config file. More...

void	loadOptions (const mrpt::config::CConfigFileBase &cfgSource)
	Loads the options from a config source. More...

void	initializeEmptyMap ()
	Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions. More...

bool	saveState (mrpt::serialization::CArchive &out) const
	Save the state of the whole HMT-SLAM framework to some binary stream (e.g. More...

bool	loadState (mrpt::serialization::CArchive &in)
	Load the state of the whole HMT-SLAM framework from some binary stream (e.g. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. 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
The important data.
CHierarchicalMHMap	m_map
	The hiearchical, multi-hypothesis graph-based map. More...

std::map< THypothesisID, CLocalMetricHypothesis >	m_LMHs
	The list of LMHs at each instant. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

HMT-SLAM sub-processes.
void	LSLAM_process_message (const mrpt::serialization::CMessage &msg)
	Auxiliary method within thread_LSLAM. More...

void	LSLAM_process_message_from_AA (const TMessageLSLAMfromAA &myMsg)
	No critical section locks are assumed at the entrance of this method. More...

void	LSLAM_process_message_from_TBI (const TMessageLSLAMfromTBI &myMsg)
	No critical section locks are assumed at the entrance of this method. More...

void	perform_TLC (CLocalMetricHypothesis &LMH, const CHMHMapNode::TNodeID areaInLMH, const CHMHMapNode::TNodeID areaLoopClosure, const mrpt::poses::CPose3DPDFGaussian &pose1wrt2)
	Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Static Protected Member Functions
static TMessageLSLAMfromAA::Ptr	areaAbstraction (CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs)
	The Area Abstraction (AA) method, invoked from LSLAM. More...

static TMessageLSLAMfromTBI::Ptr	TBI_main_method (CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID)
	The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM. More...

static std::string	generateUniqueAreaLabel ()
	Generates a new and unique area textual label (currently this generates "0","1",...) More...

static TPoseID	generatePoseID ()
	Generates a new and unique pose ID. More...

static THypothesisID	generateHypothesisID ()
	Generates a new and unique hypothesis ID. More...

Protected Attributes
std::atomic_bool	m_terminateThreads
	Termination flag for signaling all threads to terminate. More...

std::atomic_bool	m_terminationFlag_LSLAM
	Threads termination flags: More...

std::atomic_bool	m_terminationFlag_TBI

std::atomic_bool	m_terminationFlag_3D_viewer

mrpt::hmtslam::CHMTSLAM::TOptions	m_options

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

The different SLAM algorithms that can be invoked from the LSLAM
thread.
CLSLAMAlgorithmBase *	m_LSLAM_method
	An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState". More...

Static Protected Attributes
static int64_t	m_nextAreaLabel = 0

static TPoseID	m_nextPoseID = 0

static THypothesisID	m_nextHypID = COMMON_TOPOLOG_HYP + 1

Friends
class	CLocalMetricHypothesis

class	CLSLAM_RBPF_2DLASER

class	CTopLCDetector_GridMatching

class	CTopLCDetector_FabMap

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::hmtslam ::CHMTSLAM >

using	ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CHMTSLAM >

using	UniquePtr = std::unique_ptr< mrpt::hmtslam ::CHMTSLAM >

using	ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CHMTSLAM >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::hmtslam" "::" "CHMTSLAM"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Inter-thread communication queues:
using	CMessageQueue = mrpt::containers::CThreadSafeQueue< mrpt::serialization::CMessage >
	LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA. More...

CMessageQueue	m_LSLAM_queue

Related to the input queue:
enum	TLSlamMethod { lsmRBPF_2DLASER = 1 }

std::queue< mrpt::serialization::CSerializable::Ptr >	m_inputQueue
	The queue of pending actions/observations supplied by the user waiting for being processed. More...

std::mutex	m_inputQueue_cs
	Critical section for accessing m_inputQueue. More...

std::mutex	m_map_cs
	Critical section for accessing m_map. More...

std::mutex	m_LMHs_cs
	Critical section for accessing m_LMHs. More...

void	clearInputQueue ()
	Empty the input queue. More...

bool	isInputQueueEmpty ()
	Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More...

size_t	inputQueueSize ()
	Returns the number of objects waiting for processing in the input queue. More...

void	pushAction (const mrpt::obs::CActionCollection::Ptr &acts)
	Here the user can enter an action into the system (will go to the SLAM process). More...

void	pushObservations (const mrpt::obs::CSensoryFrame::Ptr &sf)
	Here the user can enter observations into the system (will go to the SLAM process). More...

void	pushObservation (const mrpt::obs::CObservation::Ptr &obs)
	Here the user can enter an observation into the system (will go to the SLAM process). More...

mrpt::serialization::CSerializable::Ptr	getNextObjectFromInputQueue ()
	Used from the LSLAM thread to retrieve the next object from the queue. More...

Threads stuff
std::thread	m_hThread_LSLAM
	Threads handles. More...

std::thread	m_hThread_TBI

std::thread	m_hThread_3D_viewer

void	thread_LSLAM ()
	The function for the "Local SLAM" thread. More...

void	thread_TBI ()
	The function for the "TBI" thread. More...

void	thread_3D_viewer ()
	The function for the "3D viewer" thread. More...

The different Loop-Closure modules that are to be executed in the
TBI thread.
using	TLopLCDetectorFactory = CTopLCDetectorBase ()(CHMTSLAM *)

std::map< std::string, TLopLCDetectorFactory >	m_registeredLCDetectors

std::deque< CTopLCDetectorBase * >	m_topLCdets
	The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState". More...

std::mutex	m_topLCdets_cs
	The critical section for accessing m_topLCdets. More...

void	registerLoopClosureDetector (const std::string &name, CTopLCDetectorBase (ptrCreateObject)(CHMTSLAM *))
	Must be invoked before calling initializeEmptyMap, so LC objects can be created. More...

CTopLCDetectorBase *	loopClosureDetector_factory (const std::string &name)
	The class factory for topological loop closure detectors. 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, std::string_view 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)

Member Typedef Documentation

◆ CMessageQueue

using mrpt::hmtslam::CHMTSLAM::CMessageQueue = mrpt::containers::CThreadSafeQueue<mrpt::serialization::CMessage>

protected

LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.

Definition at line 161 of file CHMTSLAM.h.

◆ ConstPtr

using mrpt::hmtslam::CHMTSLAM::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CHMTSLAM >

Definition at line 75 of file CHMTSLAM.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CHMTSLAM::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CHMTSLAM >

Definition at line 75 of file CHMTSLAM.h.

◆ Ptr

using mrpt::hmtslam::CHMTSLAM::Ptr = std::shared_ptr< mrpt::hmtslam :: CHMTSLAM >

A type for the associated smart pointer

Definition at line 75 of file CHMTSLAM.h.

◆ TLopLCDetectorFactory

using mrpt::hmtslam::CHMTSLAM::TLopLCDetectorFactory = CTopLCDetectorBase* (*)(CHMTSLAM*)

protected

Definition at line 309 of file CHMTSLAM.h.

◆ UniquePtr

using mrpt::hmtslam::CHMTSLAM::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CHMTSLAM >

Definition at line 75 of file CHMTSLAM.h.

Member Enumeration Documentation

◆ TLSlamMethod

enum mrpt::hmtslam::CHMTSLAM::TLSlamMethod

Enumerator
lsmRBPF_2DLASER

Definition at line 229 of file CHMTSLAM.h.

Constructor & Destructor Documentation

◆ CHMTSLAM() [1/2]

CHMTSLAM::CHMTSLAM ( )

Default constructor.

Parameters

debug_out_stream If debug output messages should be redirected to any other stream apart from std::cout

Definition at line 56 of file CHMTSLAM_main.cpp.

◆ CHMTSLAM() [2/2]

mrpt::hmtslam::CHMTSLAM::CHMTSLAM ( const CHMTSLAM & )

inline

Definition at line 365 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ ~CHMTSLAM()

CHMTSLAM::~CHMTSLAM ( )

override

Destructor.

Definition at line 87 of file CHMTSLAM_main.cpp.

References mrpt::format(), MRPT_LOG_DEBUG, and MRPT_LOG_WARN.

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::_GetBaseClass ( )

staticprotected

◆ abortedDueToErrors()

bool CHMTSLAM::abortedDueToErrors ( )

Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on.

Definition at line 539 of file CHMTSLAM_main.cpp.

◆ areaAbstraction()

CHMTSLAM::TMessageLSLAMfromAA::Ptr CHMTSLAM::areaAbstraction	(	CLocalMetricHypothesis *	LMH,
		const TPoseIDList &	newPoseIDs
	)

staticprotected

The Area Abstraction (AA) method, invoked from LSLAM.

Parameters

LMH	(IN) The LMH which to this query applies.
newPoseIDs	(IN) The new poseIDs to be added to the graph partitioner.

Returns: A structure with all return data. Memory to be freed by user.

Note: The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 32 of file CHMTSLAM_AA.cpp.

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◆ clearInputQueue()

void CHMTSLAM::clearInputQueue ( )

Empty the input queue.

Definition at line 154 of file CHMTSLAM_main.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CHMTSLAM::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::hmtslam::CHMTSLAM::Create ( Args &&... args )

inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::hmtslam::CHMTSLAM::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CHMTSLAM::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::hmtslam::CHMTSLAM::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ 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.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ generateHypothesisID()

THypothesisID CHMTSLAM::generateHypothesisID ( )

staticprotected

Generates a new and unique hypothesis ID.

Definition at line 530 of file CHMTSLAM_main.cpp.

◆ generateLogFiles()

void CHMTSLAM::generateLogFiles ( unsigned int nIteration )

Called from LSLAM thread when log files must be created.

Definition at line 41 of file CHMTSLAM_LOG.cpp.

Referenced by thread_LSLAM().

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◆ generatePoseID()

TPoseID CHMTSLAM::generatePoseID ( )

staticprotected

Generates a new and unique pose ID.

Definition at line 526 of file CHMTSLAM_main.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

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◆ generateUniqueAreaLabel()

std::string CHMTSLAM::generateUniqueAreaLabel ( )

staticprotected

Generates a new and unique area textual label (currently this generates "0","1",...)

Definition at line 518 of file CHMTSLAM_main.cpp.

References mrpt::format().

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◆ getAs3DScene()

void CHMTSLAM::getAs3DScene ( mrpt::opengl::COpenGLScene & outScene )

Gets a 3D representation of the current state of the whole mapping framework.

Definition at line 534 of file CHMTSLAM_main.cpp.

◆ getClassName()

static constexpr auto mrpt::hmtslam::CHMTSLAM::getClassName ( )

inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ 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 201 of file system/COutputLogger.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getNextObjectFromInputQueue()

CSerializable::Ptr CHMTSLAM::getNextObjectFromInputQueue ( )

protected

Used from the LSLAM thread to retrieve the next object from the queue.

Returns: The object, or nullptr if empty.

Definition at line 384 of file CHMTSLAM_main.cpp.

Referenced by thread_LSLAM().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CHMTSLAM::GetRuntimeClassIdStatic ( )

static

◆ initializeEmptyMap()

void CHMTSLAM::initializeEmptyMap ( )

Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions.

Definition at line 402 of file CHMTSLAM_main.cpp.

References mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses(), COMMON_TOPOLOG_HYP, mrpt::system::createDirectory(), mrpt::system::deleteFilesInDirectory(), mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_log_w, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_REF_POSEID, POSEID_INVALID, and THROW_EXCEPTION_FMT.

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◆ inputQueueSize()

size_t CHMTSLAM::inputQueueSize ( )

Returns the number of objects waiting for processing in the input queue.

See also: pushAction,pushObservations, isInputQueueEmpty

Definition at line 371 of file CHMTSLAM_main.cpp.

◆ isInputQueueEmpty()

bool CHMTSLAM::isInputQueueEmpty ( )

Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)

See also: pushAction,pushObservations, inputQueueSize

Definition at line 357 of file CHMTSLAM_main.cpp.

Referenced by thread_LSLAM().

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◆ isLoggingLevelVisible()

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

inlineinherited

Definition at line 202 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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◆ loadOptions() [1/2]

void CHMTSLAM::loadOptions ( const std::string & configFile )

Loads the options from a config file.

Definition at line 251 of file CHMTSLAM_main.cpp.

References ASSERT_, and mrpt::system::fileExists().

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◆ loadOptions() [2/2]

void CHMTSLAM::loadOptions ( const mrpt::config::CConfigFileBase & cfgSource )

Loads the options from a config source.

Definition at line 229 of file CHMTSLAM_main.cpp.

◆ loadState()

bool CHMTSLAM::loadState ( mrpt::serialization::CArchive & in )

Load the state of the whole HMT-SLAM framework from some binary stream (e.g.

a file).

Returns: true if everything goes OK.

See also: saveState

Definition at line 582 of file CHMTSLAM_main.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 areaAbstraction(), 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(), thread_3D_viewer(), thread_LSLAM(), thread_TBI(), 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,
		std::string_view	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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◆ loopClosureDetector_factory()

CTopLCDetectorBase * CHMTSLAM::loopClosureDetector_factory ( const std::string & name )

The class factory for topological loop closure detectors.

Possible values are enumerated in TOptions::TLC_detectors

Exceptions

std::exception On unknown name.

Definition at line 557 of file CHMTSLAM_main.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

◆ LSLAM_process_message()

void CHMTSLAM::LSLAM_process_message ( const mrpt::serialization::CMessage & msg )

protected

Auxiliary method within thread_LSLAM.

Definition at line 269 of file CHMTSLAM_LSLAM.cpp.

References MRPT_END, and MRPT_START.

Referenced by thread_LSLAM().

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◆ LSLAM_process_message_from_AA()

void CHMTSLAM::LSLAM_process_message_from_AA ( const TMessageLSLAMfromAA & myMsg )

protected

No critical section locks are assumed at the entrance of this method.

Definition at line 298 of file CHMTSLAM_LSLAM.cpp.

Referenced by thread_LSLAM().

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◆ LSLAM_process_message_from_TBI()

void CHMTSLAM::LSLAM_process_message_from_TBI ( const TMessageLSLAMfromTBI & myMsg )

protected

No critical section locks are assumed at the entrance of this method.

Definition at line 1894 of file CHMTSLAM_LSLAM.cpp.

References ASSERT_, mrpt::math::chi2inv(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::cur_area, mrpt::DEG2RAD(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::hypothesisID, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::loopClosureData, mrpt::system::LVL_INFO, mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::system::pause(), mrpt::RAD2DEG(), mrpt::square(), mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

Referenced by thread_LSLAM().

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◆ operator=()

const CHMTSLAM& mrpt::hmtslam::CHMTSLAM::operator= ( const CHMTSLAM & )

inline

Definition at line 369 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ perform_TLC()

void CHMTSLAM::perform_TLC	(	CLocalMetricHypothesis &	LMH,
		const CHMHMapNode::TNodeID	areaInLMH,
		const CHMHMapNode::TNodeID	areaLoopClosure,
		const mrpt::poses::CPose3DPDFGaussian &	pose1wrt2
	)

protected

Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same.

Definition at line 34 of file CHMTSLAM_perform_TLC.cpp.

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◆ pushAction()

void CHMTSLAM::pushAction ( const mrpt::obs::CActionCollection::Ptr & acts )

Here the user can enter an action into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushObservations,pushObservation

Definition at line 171 of file CHMTSLAM_main.cpp.

◆ pushObservation()

void CHMTSLAM::pushObservation ( const mrpt::obs::CObservation::Ptr & obs )

Here the user can enter an observation into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushAction,pushObservation

Definition at line 207 of file CHMTSLAM_main.cpp.

◆ pushObservations()

void CHMTSLAM::pushObservations ( const mrpt::obs::CSensoryFrame::Ptr & sf )

Here the user can enter observations into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushAction,pushObservation

Definition at line 189 of file CHMTSLAM_main.cpp.

◆ registerLoopClosureDetector()

void CHMTSLAM::registerLoopClosureDetector	(	const std::string &	name,
		CTopLCDetectorBase ()(CHMTSLAM *)	ptrCreateObject
	)

Must be invoked before calling initializeEmptyMap, so LC objects can be created.

Definition at line 548 of file CHMTSLAM_main.cpp.

◆ saveState()

bool CHMTSLAM::saveState ( mrpt::serialization::CArchive & out ) const

Save the state of the whole HMT-SLAM framework to some binary stream (e.g.

a file).

Returns: true if everything goes OK.

See also: loadState

Definition at line 569 of file CHMTSLAM_main.cpp.

References out.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeFrom() [2/2]

void CHMTSLAM::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 598 of file CHMTSLAM_main.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CHMTSLAM::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 622 of file CHMTSLAM_main.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CHMTSLAM::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 623 of file CHMTSLAM_main.cpp.

References out.

◆ 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(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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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(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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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(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ TBI_main_method()

CHMTSLAM::TMessageLSLAMfromTBI::Ptr CHMTSLAM::TBI_main_method	(	CLocalMetricHypothesis *	LMH,
		const CHMHMapNode::TNodeID &	areaID
	)

staticprotected

The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.

Parameters

LMH	(IN) The LMH which to this query applies.
areaID	(IN) The area ID to consider for potential loop-closures.

Note: The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 102 of file CHMTSLAM_TBI.cpp.

References mrpt::poses::CPose3DPDFSOG::appendFrom(), ASSERT_, mrpt::poses::CPose3DPDFSOG::clear(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur, IS_CLASS, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik, mrpt::system::LVL_DEBUG, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, MRPT_END, MRPT_START, and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ thread_3D_viewer()

void CHMTSLAM::thread_3D_viewer ( )

protected

The function for the "3D viewer" thread.

Definition at line 31 of file CHMTSLAM_3D_viewer.cpp.

References mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, m_terminateThreads, and m_terminationFlag_3D_viewer.

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◆ thread_LSLAM()

void CHMTSLAM::thread_LSLAM ( )

protected

The function for the "Local SLAM" thread.

Definition at line 47 of file CHMTSLAM_LSLAM.cpp.

References ASSERT_, CLASS_ID, generateLogFiles(), mrpt::containers::CThreadSafeQueue< T >::get(), getNextObjectFromInputQueue(), mrpt::random::getRandomGenerator(), isInputQueueEmpty(), mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY, mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR, mrpt::system::COutputLogger::logFmt(), LSLAM_process_message(), LSLAM_process_message_from_AA(), LSLAM_process_message_from_TBI(), mrpt::system::LVL_DEBUG, m_LMHs, m_LMHs_cs, m_LSLAM_method, m_LSLAM_queue, m_options, m_terminateThreads, m_terminationFlag_LSLAM, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR, mrpt::hmtslam::CLSLAMAlgorithmBase::processOneLMH(), mrpt::hmtslam::CHMTSLAM::TOptions::random_seed, mrpt::random::CRandomGenerator::randomize(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

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◆ thread_TBI()

void CHMTSLAM::thread_TBI ( )

protected

The function for the "TBI" thread.

Definition at line 33 of file CHMTSLAM_TBI.cpp.

References mrpt::random::getRandomGenerator(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, m_options, m_terminateThreads, m_terminationFlag_TBI, mrpt::hmtslam::CHMTSLAM::TOptions::random_seed, and mrpt::random::CRandomGenerator::randomize().

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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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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CLocalMetricHypothesis

friend class CLocalMetricHypothesis

friend

Definition at line 70 of file CHMTSLAM.h.

◆ CLSLAM_RBPF_2DLASER

friend class CLSLAM_RBPF_2DLASER

friend

Definition at line 71 of file CHMTSLAM.h.

◆ CTopLCDetector_FabMap

friend class CTopLCDetector_FabMap

friend

Definition at line 73 of file CHMTSLAM.h.

◆ CTopLCDetector_GridMatching

friend class CTopLCDetector_GridMatching

friend

Definition at line 72 of file CHMTSLAM.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CHMTSLAM::className = "mrpt::hmtslam" "::" "CHMTSLAM"

static

Definition at line 75 of file CHMTSLAM.h.

◆ 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 240 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 243 of file system/COutputLogger.h.

◆ m_hThread_3D_viewer

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_3D_viewer

protected

Definition at line 267 of file CHMTSLAM.h.

◆ m_hThread_LSLAM

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_LSLAM

protected

Threads handles.

Definition at line 267 of file CHMTSLAM.h.

◆ m_hThread_TBI

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_TBI

protected

Definition at line 267 of file CHMTSLAM.h.

◆ m_inputQueue

std::queue<mrpt::serialization::CSerializable::Ptr> mrpt::hmtslam::CHMTSLAM::m_inputQueue

protected

The queue of pending actions/observations supplied by the user waiting for being processed.

Definition at line 242 of file CHMTSLAM.h.

◆ m_inputQueue_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs

mutableprotected

Critical section for accessing m_inputQueue.

Definition at line 245 of file CHMTSLAM.h.

◆ m_LMHs

std::map<THypothesisID, CLocalMetricHypothesis> mrpt::hmtslam::CHMTSLAM::m_LMHs

The list of LMHs at each instant.

Definition at line 417 of file CHMTSLAM.h.

Referenced by thread_LSLAM().

◆ m_LMHs_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_LMHs_cs

mutableprotected

Critical section for accessing m_LMHs.

Definition at line 251 of file CHMTSLAM.h.

Referenced by thread_LSLAM().

◆ m_LSLAM_method

CLSLAMAlgorithmBase* mrpt::hmtslam::CHMTSLAM::m_LSLAM_method

protected

An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".

Definition at line 301 of file CHMTSLAM.h.

Referenced by thread_LSLAM().

◆ m_LSLAM_queue

CMessageQueue mrpt::hmtslam::CHMTSLAM::m_LSLAM_queue

protected

Definition at line 163 of file CHMTSLAM.h.

Referenced by thread_LSLAM().

◆ m_map

CHierarchicalMHMap mrpt::hmtslam::CHMTSLAM::m_map

The hiearchical, multi-hypothesis graph-based map.

Definition at line 415 of file CHMTSLAM.h.

◆ m_map_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_map_cs

mutableprotected

Critical section for accessing m_map.

Definition at line 248 of file CHMTSLAM.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 253 of file system/COutputLogger.h.

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

◆ m_nextAreaLabel

int64_t CHMTSLAM::m_nextAreaLabel = 0

staticprotected

Definition at line 354 of file CHMTSLAM.h.

◆ m_nextHypID

THypothesisID CHMTSLAM::m_nextHypID = COMMON_TOPOLOG_HYP + 1

staticprotected

Definition at line 356 of file CHMTSLAM.h.

◆ m_nextPoseID

TPoseID CHMTSLAM::m_nextPoseID = 0

staticprotected

Definition at line 355 of file CHMTSLAM.h.

◆ m_options

mrpt::hmtslam::CHMTSLAM::TOptions mrpt::hmtslam::CHMTSLAM::m_options

protected

Referenced by areaAbstraction(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap(), thread_LSLAM(), and thread_TBI().

◆ m_registeredLCDetectors

std::map<std::string, TLopLCDetectorFactory> mrpt::hmtslam::CHMTSLAM::m_registeredLCDetectors

protected

Definition at line 311 of file CHMTSLAM.h.

◆ m_terminateThreads

std::atomic_bool mrpt::hmtslam::CHMTSLAM::m_terminateThreads

protected

Termination flag for signaling all threads to terminate.

Definition at line 337 of file CHMTSLAM.h.

Referenced by thread_3D_viewer(), thread_LSLAM(), and thread_TBI().

◆ m_terminationFlag_3D_viewer

std::atomic_bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_3D_viewer

protected

Definition at line 341 of file CHMTSLAM.h.

Referenced by thread_3D_viewer().

◆ m_terminationFlag_LSLAM

std::atomic_bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_LSLAM

protected

Threads termination flags:

Definition at line 341 of file CHMTSLAM.h.

Referenced by thread_LSLAM().

◆ m_terminationFlag_TBI

std::atomic_bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_TBI

protected

Definition at line 341 of file CHMTSLAM.h.

Referenced by thread_TBI().

◆ m_topLCdets

std::deque<CTopLCDetectorBase*> mrpt::hmtslam::CHMTSLAM::m_topLCdets

protected

The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".

Definition at line 315 of file CHMTSLAM.h.

◆ m_topLCdets_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_topLCdets_cs

protected

The critical section for accessing m_topLCdets.

Definition at line 318 of file CHMTSLAM.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CHMTSLAM::runtimeClassId

staticprotected

Definition at line 75 of file CHMTSLAM.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

RTTI stuff

Inter-thread communication queues:

Related to the input queue:

Threads stuff

The different Loop-Closure modules that are to be executed in the

Logging methods

Member Typedef Documentation

◆ CMessageQueue

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ TLopLCDetectorFactory

◆ UniquePtr

Member Enumeration Documentation

◆ TLSlamMethod

Constructor & Destructor Documentation

◆ CHMTSLAM() [1/2]

◆ CHMTSLAM() [2/2]

◆ ~CHMTSLAM()

Member Function Documentation

◆ _GetBaseClass()

◆ abortedDueToErrors()

◆ areaAbstraction()

◆ clearInputQueue()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ generateHypothesisID()

◆ generateLogFiles()

◆ generatePoseID()

◆ generateUniqueAreaLabel()

◆ getAs3DScene()

◆ getClassName()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNextObjectFromInputQueue()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ initializeEmptyMap()

◆ inputQueueSize()

◆ isInputQueueEmpty()

◆ isLoggingLevelVisible()

◆ loadOptions() [1/2]

◆ loadOptions() [2/2]

◆ loadState()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ loopClosureDetector_factory()

◆ LSLAM_process_message()

◆ LSLAM_process_message_from_AA()

◆ LSLAM_process_message_from_TBI()

◆ operator=()

◆ perform_TLC()

◆ pushAction()

◆ pushObservation()

◆ pushObservations()