Detailed Description

Generic class for tracking the total number of edges for different tpes of edges and for storing visualization-related information for each type.

Definition at line 27 of file CEdgeCounter.h.

#include <mrpt/graphslam/misc/CEdgeCounter.h>

Public Types
using	iterator = std::map< std::string, int >::iterator

using	const_iterator = std::map< std::string, int >::const_iterator

Public Member Functions
	CEdgeCounter ()

	~CEdgeCounter ()=default

void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
	Provide the instance with a CWindowManager. More...

void	setRemovedEdges (int removed_edges)
	State how many of the existing edges have been removed. More...

void	setLoopClosureEdgesManually (int num_loop_closures)
	Method for manually setting the number of loop closures registered so far. More...

int	getLoopClosureEdges () const
	Returns the edges that form loop closures in the current graph. More...

int	getTotalNumOfEdges () const
	Return the total amount of registered edges. More...

void	getTotalNumOfEdges (int *total_num_edges) const
	Return the total amount of registered edges. More...

int	getNumForEdgeType (const std::string &name) const
	Return the number of edges for the specified type. More...

void	getNumForEdgeType (const std::string &name, int *total_num)
	Return the number of edges for the specified type. More...

void	setEdgesManually (const std::string &name, int num_of_edges)
	Set number of a specific edge type manually. More...

void	addEdge (const std::string &name, bool is_loop_closure=false, bool is_new=false)
	Increment the number of edges for the specified type. More...

void	addEdgeType (const std::string &name)
	Explicitly register a new edge type. More...

void	clearAllEdges ()
	Reset the state of the CEdgeCounter instance. More...

void	dumpToConsole () const
	Dump a report of the registered, so far, edges to the console. More...

void	getAsString (std::string *str_out) const
	Fill the provided string with a detailed report of the registered, so far, edges. More...

std::string	getAsString () const
	Return a detailed report of the registered, so far, edges in a string representation. More...

void	setTextMessageParams (const std::map< std::string, double > &name_to_offset_y, const std::map< std::string, int > &name_to_text_index)
	Add the textMessage parameters to the object All the names in the given std::maps have to be already specified and added in the object via addEdge with is_new=true or addEdgeType. More...

void	setTextMessageParams (const std::map< std::string, double > &name_to_offset_y, const std::map< std::string, int > &name_to_text_index, double offset_y_total_edges, int text_index_total_edges, double offset_y_loop_closures, int text_index_loop_closures)
	Handle the extra visualization parameters for the total number of edges and for loop closures and then passes execution to the other setTextMessageParams function. More...

iterator	begin ()
	Instance Iterators. More...

const_iterator	cbegin () const

iterator	end ()

const_iterator	cend () const

Private Member Functions
void	updateTextMessages () const
	Update the given CDisplayWindow3D with the edges registered so far. More...

Private Attributes
mrpt::gui::CDisplayWindow3D *	m_win = nullptr

mrpt::graphslam::CWindowManager *	m_win_manager = nullptr

std::map< std::string, int >	m_name_to_edges_num
	Map edge name <=> num of edges. More...

int	m_num_loop_closures = 0

int	m_unique_edges = 0

std::map< std::string, double >	m_name_to_offset_y

std::map< std::string, int >	m_name_to_text_index

bool	m_has_read_textmessage_params

bool	m_display_total_edges = false

bool	m_display_loop_closures = false

int	m_offset_y_total_edges = 0

int	m_offset_y_loop_closures = 0

int	m_text_index_total_edges = 0

int	m_text_index_loop_closures = 0

Member Typedef Documentation

◆ const_iterator

using mrpt::graphslam::detail::CEdgeCounter::const_iterator = std::map<std::string, int>::const_iterator

Definition at line 31 of file CEdgeCounter.h.

◆ iterator

using mrpt::graphslam::detail::CEdgeCounter::iterator = std::map<std::string, int>::iterator

Definition at line 30 of file CEdgeCounter.h.

Constructor & Destructor Documentation

◆ CEdgeCounter()

CEdgeCounter::CEdgeCounter ( )

Definition at line 16 of file CEdgeCounter.cpp.

References clearAllEdges().

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◆ ~CEdgeCounter()

mrpt::graphslam::detail::CEdgeCounter::~CEdgeCounter ( )

default

Member Function Documentation

◆ addEdge()

void CEdgeCounter::addEdge	(	const std::string &	name,
		bool	is_loop_closure = `false`,
		bool	is_new = `false`
	)

Increment the number of edges for the specified type.

Exceptions

std::exception If edge exists and is_new is True

See also: setEdgesManually

Definition at line 107 of file CEdgeCounter.cpp.

References mrpt::format(), m_has_read_textmessage_params, m_name_to_edges_num, m_num_loop_closures, m_win_manager, THROW_EXCEPTION, and updateTextMessages().

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◆ addEdgeType()

void CEdgeCounter::addEdgeType ( const std::string & name )

Explicitly register a new edge type.

Definition at line 163 of file CEdgeCounter.cpp.

References mrpt::format(), m_name_to_edges_num, and THROW_EXCEPTION.

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◆ begin()

iterator mrpt::graphslam::detail::CEdgeCounter::begin ( )

inline

Instance Iterators.

Definition at line 134 of file CEdgeCounter.h.

References m_name_to_edges_num.

◆ cbegin()

const_iterator mrpt::graphslam::detail::CEdgeCounter::cbegin ( ) const

inline

Definition at line 135 of file CEdgeCounter.h.

References m_name_to_edges_num.

◆ cend()

const_iterator mrpt::graphslam::detail::CEdgeCounter::cend ( ) const

inline

Definition at line 140 of file CEdgeCounter.h.

References m_name_to_edges_num.

◆ clearAllEdges()

void CEdgeCounter::clearAllEdges ( )

Reset the state of the CEdgeCounter instance.

Definition at line 178 of file CEdgeCounter.cpp.

References m_display_loop_closures, m_display_total_edges, m_has_read_textmessage_params, m_name_to_edges_num, m_name_to_offset_y, m_name_to_text_index, and m_num_loop_closures.

Referenced by CEdgeCounter().

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◆ dumpToConsole()

void CEdgeCounter::dumpToConsole ( ) const

Dump a report of the registered, so far, edges to the console.

See also: getAsString

Definition at line 191 of file CEdgeCounter.cpp.

References getAsString().

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◆ end()

iterator mrpt::graphslam::detail::CEdgeCounter::end ( )

inline

Definition at line 139 of file CEdgeCounter.h.

References m_name_to_edges_num.

◆ getAsString() [1/2]

void CEdgeCounter::getAsString ( std::string * str_out ) const

Fill the provided string with a detailed report of the registered, so far, edges.

Definition at line 197 of file CEdgeCounter.cpp.

References getLoopClosureEdges(), getTotalNumOfEdges(), m_name_to_edges_num, and m_unique_edges.

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◆ getAsString() [2/2]

std::string CEdgeCounter::getAsString ( ) const

Return a detailed report of the registered, so far, edges in a string representation.

Definition at line 221 of file CEdgeCounter.cpp.

Referenced by dumpToConsole().

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◆ getLoopClosureEdges()

int CEdgeCounter::getLoopClosureEdges ( ) const

Returns the edges that form loop closures in the current graph.

Definition at line 40 of file CEdgeCounter.cpp.

References m_num_loop_closures.

Referenced by getAsString().

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◆ getNumForEdgeType() [1/2]

int CEdgeCounter::getNumForEdgeType ( const std::string & name ) const

Return the number of edges for the specified type.

Exceptions

std::exception If edge is not found

See also: getTotalNumOfEdges

Definition at line 61 of file CEdgeCounter.cpp.

References m_name_to_edges_num, and THROW_EXCEPTION.

◆ getNumForEdgeType() [2/2]

void CEdgeCounter::getNumForEdgeType	(	const std::string &	name,
		int *	total_num
	)

Return the number of edges for the specified type.

Exceptions

std::exception If edge is not found

See also: getTotalNumOfEdges

Definition at line 74 of file CEdgeCounter.cpp.

References m_name_to_edges_num, and THROW_EXCEPTION.

◆ getTotalNumOfEdges() [1/2]

int CEdgeCounter::getTotalNumOfEdges ( ) const

Return the total amount of registered edges.

See also: getNumForEdgeType, getLoopClosureEdges

Definition at line 41 of file CEdgeCounter.cpp.

References mrpt::math::sum().

Referenced by getAsString(), setRemovedEdges(), and updateTextMessages().

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◆ getTotalNumOfEdges() [2/2]

void CEdgeCounter::getTotalNumOfEdges ( int * total_num_edges ) const

Return the total amount of registered edges.

See also: getNumForEdgeType, getLoopClosureEdges

Definition at line 49 of file CEdgeCounter.cpp.

References ASSERTDEB_, m_name_to_edges_num, and mrpt::math::sum().

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◆ setEdgesManually()

void CEdgeCounter::setEdgesManually	(	const std::string &	name,
		int	num_of_edges
	)

Set number of a specific edge type manually.

Handy for not having to call addEdge multiple times in a row.

See also: addEdge

Definition at line 87 of file CEdgeCounter.cpp.

References m_has_read_textmessage_params, m_name_to_edges_num, m_win_manager, THROW_EXCEPTION, and updateTextMessages().

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◆ setLoopClosureEdgesManually()

void CEdgeCounter::setLoopClosureEdgesManually ( int num_loop_closures )

Method for manually setting the number of loop closures registered so far.

Definition at line 35 of file CEdgeCounter.cpp.

References m_num_loop_closures.

◆ setRemovedEdges()

void CEdgeCounter::setRemovedEdges ( int removed_edges )

State how many of the existing edges have been removed.

Method is to be called after CNetworkOfPoses::collapseDuplicatedEdges method has been executed.

Definition at line 30 of file CEdgeCounter.cpp.

References getTotalNumOfEdges(), and m_unique_edges.

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◆ setTextMessageParams() [1/2]

void CEdgeCounter::setTextMessageParams	(	const std::map< std::string, double > &	name_to_offset_y,
		const std::map< std::string, int > &	name_to_text_index
	)

Add the textMessage parameters to the object All the names in the given std::maps have to be already specified and added in the object via addEdge with is_new=true or addEdgeType.

Exceptions

std::exception If a name in the provided std::map doesn't already exist

Definition at line 231 of file CEdgeCounter.cpp.

References ASSERTDEB_EQUAL_, ASSERTDEBMSG_, m_has_read_textmessage_params, m_name_to_edges_num, m_name_to_offset_y, m_name_to_text_index, m_win_manager, and THROW_EXCEPTION.

Referenced by setTextMessageParams().

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◆ setTextMessageParams() [2/2]

void CEdgeCounter::setTextMessageParams	(	const std::map< std::string, double > &	name_to_offset_y,
		const std::map< std::string, int > &	name_to_text_index,
		double	offset_y_total_edges,
		int	text_index_total_edges,
		double	offset_y_loop_closures,
		int	text_index_loop_closures
	)

Handle the extra visualization parameters for the total number of edges and for loop closures and then passes execution to the other setTextMessageParams function.

Definition at line 266 of file CEdgeCounter.cpp.

References m_display_loop_closures, m_display_total_edges, m_offset_y_loop_closures, m_offset_y_total_edges, m_text_index_loop_closures, m_text_index_total_edges, and setTextMessageParams().

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◆ setWindowManagerPtr()

void CEdgeCounter::setWindowManagerPtr ( mrpt::graphslam::CWindowManager * win_manager )

Provide the instance with a CWindowManager.

Definition at line 17 of file CEdgeCounter.cpp.

References ASSERTDEB_, m_win, m_win_manager, MRPT_END, MRPT_START, and mrpt::graphslam::CWindowManager::win.

◆ updateTextMessages()

void CEdgeCounter::updateTextMessages ( ) const

private

Update the given CDisplayWindow3D with the edges registered so far.

Definition at line 286 of file CEdgeCounter.cpp.

References mrpt::graphslam::CWindowManager::addTextMessage(), ASSERTDEB_, ASSERTDEB_EQUAL_, mrpt::gui::CDisplayWindow3D::forceRepaint(), getTotalNumOfEdges(), m_display_loop_closures, m_display_total_edges, m_has_read_textmessage_params, m_name_to_edges_num, m_name_to_offset_y, m_name_to_text_index, m_num_loop_closures, m_offset_y_loop_closures, m_offset_y_total_edges, m_text_index_loop_closures, m_text_index_total_edges, m_win, and m_win_manager.

Referenced by addEdge(), and setEdgesManually().

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Member Data Documentation

◆ m_display_loop_closures

bool mrpt::graphslam::detail::CEdgeCounter::m_display_loop_closures = false

private

Definition at line 167 of file CEdgeCounter.h.

Referenced by clearAllEdges(), setTextMessageParams(), and updateTextMessages().

◆ m_display_total_edges

bool mrpt::graphslam::detail::CEdgeCounter::m_display_total_edges = false

private

Definition at line 166 of file CEdgeCounter.h.

Referenced by clearAllEdges(), setTextMessageParams(), and updateTextMessages().

◆ m_has_read_textmessage_params

bool mrpt::graphslam::detail::CEdgeCounter::m_has_read_textmessage_params

private

Definition at line 163 of file CEdgeCounter.h.

Referenced by addEdge(), clearAllEdges(), setEdgesManually(), setTextMessageParams(), and updateTextMessages().

◆ m_name_to_edges_num

std::map<std::string, int> mrpt::graphslam::detail::CEdgeCounter::m_name_to_edges_num

private

Map edge name <=> num of edges.

Tracking number of edges

Definition at line 155 of file CEdgeCounter.h.

Referenced by addEdge(), addEdgeType(), begin(), cbegin(), cend(), clearAllEdges(), end(), getAsString(), getNumForEdgeType(), getTotalNumOfEdges(), setEdgesManually(), setTextMessageParams(), and updateTextMessages().

◆ m_name_to_offset_y

std::map<std::string, double> mrpt::graphslam::detail::CEdgeCounter::m_name_to_offset_y

private

Definition at line 160 of file CEdgeCounter.h.

Referenced by clearAllEdges(), setTextMessageParams(), and updateTextMessages().

◆ m_name_to_text_index

std::map<std::string, int> mrpt::graphslam::detail::CEdgeCounter::m_name_to_text_index

private

Definition at line 161 of file CEdgeCounter.h.

Referenced by clearAllEdges(), setTextMessageParams(), and updateTextMessages().

◆ m_num_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_num_loop_closures = 0

private

Definition at line 156 of file CEdgeCounter.h.

Referenced by addEdge(), clearAllEdges(), getLoopClosureEdges(), setLoopClosureEdgesManually(), and updateTextMessages().

◆ m_offset_y_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_offset_y_loop_closures = 0

private

Definition at line 169 of file CEdgeCounter.h.

Referenced by setTextMessageParams(), and updateTextMessages().

◆ m_offset_y_total_edges

int mrpt::graphslam::detail::CEdgeCounter::m_offset_y_total_edges = 0

private

Definition at line 168 of file CEdgeCounter.h.

Referenced by setTextMessageParams(), and updateTextMessages().

◆ m_text_index_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_text_index_loop_closures = 0

private

Definition at line 171 of file CEdgeCounter.h.

Referenced by setTextMessageParams(), and updateTextMessages().

◆ m_text_index_total_edges

int mrpt::graphslam::detail::CEdgeCounter::m_text_index_total_edges = 0

private

Definition at line 170 of file CEdgeCounter.h.

Referenced by setTextMessageParams(), and updateTextMessages().

◆ m_unique_edges

int mrpt::graphslam::detail::CEdgeCounter::m_unique_edges = 0

private

Definition at line 157 of file CEdgeCounter.h.

Referenced by getAsString(), and setRemovedEdges().

◆ m_win

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::detail::CEdgeCounter::m_win = nullptr

private

Definition at line 148 of file CEdgeCounter.h.

Referenced by setWindowManagerPtr(), and updateTextMessages().

◆ m_win_manager

mrpt::graphslam::CWindowManager* mrpt::graphslam::detail::CEdgeCounter::m_win_manager = nullptr

private

Definition at line 149 of file CEdgeCounter.h.

Referenced by addEdge(), setEdgesManually(), setTextMessageParams(), setWindowManagerPtr(), and updateTextMessages().

Detailed Description

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ CEdgeCounter()

◆ ~CEdgeCounter()

Member Function Documentation

◆ addEdge()

◆ addEdgeType()

◆ begin()

◆ cbegin()

◆ cend()

◆ clearAllEdges()

◆ dumpToConsole()

◆ end()

◆ getAsString() [1/2]

◆ getAsString() [2/2]

◆ getLoopClosureEdges()

◆ getNumForEdgeType() [1/2]

◆ getNumForEdgeType() [2/2]

◆ getTotalNumOfEdges() [1/2]

◆ getTotalNumOfEdges() [2/2]

◆ setEdgesManually()

◆ setLoopClosureEdgesManually()

◆ setRemovedEdges()

◆ setTextMessageParams() [1/2]

◆ setTextMessageParams() [2/2]

◆ setWindowManagerPtr()

◆ updateTextMessages()

Member Data Documentation

◆ m_display_loop_closures

◆ m_display_total_edges

◆ m_has_read_textmessage_params

◆ m_name_to_edges_num

◆ m_name_to_offset_y

◆ m_name_to_text_index

◆ m_num_loop_closures

◆ m_offset_y_loop_closures

◆ m_offset_y_total_edges

◆ m_text_index_loop_closures

◆ m_text_index_total_edges

◆ m_unique_edges

◆ m_win

◆ m_win_manager