Detailed Description

The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.

This class is used within the HMT-SLAM implementation in CHMTSLAM.

See also: CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

Definition at line 26 of file CHierarchicalMHMap.h.

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:

Public Types
using	iterator = TNodeList::iterator

using	const_iterator = TNodeList::const_iterator

using	TNodeIDsList = std::vector< CHMHMapNode::TNodeID >
	A type that reprensents a sequence of node IDs. More...

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

void	dumpAsXMLfile (std::string fileName) const
	Destructor. More...

void	loadFromXMLfile (std::string fileName)
	Load a graph from a XML file. More...

	~CHierarchicalMHMap () override

void	clear ()
	Erase all the contents of map (It delete all nodes/arcs objects) 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...

const_iterator	begin () const
	Returns an iterator to the first node in the graph. More...

iterator	begin ()
	Returns an iterator to the first node in the graph. More...

const_iterator	end () const
	Returns an iterator to the end of the list of nodes in the graph. More...

iterator	end ()
	Returns an iterator to the end of the list of nodes in the graph. More...

size_t	nodeCount () const
	Returns the number of nodes in the partition: More...

size_t	arcCount () const
	Returns the number of arcs in the partition: More...

CHMHMapNode::Ptr	getFirstNode ()
	Returns the first node in the graph, or nullptr if it does not exist. More...

CHMHMapNode::Ptr	getNodeByID (CHMHMapNode::TNodeID id)
	Returns the node with the given ID, or nullptr if it does not exist. More...

const CHMHMapNode::Ptr	getNodeByID (CHMHMapNode::TNodeID id) const
	Returns the node with the given ID, or nullptr if it does not exist. More...

CHMHMapNode::Ptr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID)
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More...

const CHMHMapNode::Ptr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More...

void	saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const
	Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) More...

void	saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const
	Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. More...

void	saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const
	Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: More...

void	findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const
	The Dijkstra algorithm for finding the shortest path between a pair of nodes. More...

void	computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, mrpt::poses::CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=mrpt::DEG2RAD(0.1)) const
	Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. More...

float	computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, mrpt::poses::CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300)
	Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". More...

void	findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const
	Returns all the arcs between a pair of nodes: More...

void	findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const
	Returns the arcs between a pair of nodes of a given type. More...

CHMHMapArc::Ptr	findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const
	Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. More...

bool	areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=nullptr) const
	Returns whether two nodes are "neightbour", i.e. More...

void	computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian > &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const
	This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. More...

void	getAs3DScene (mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, bool showRobotPoseIDs=true) const
	Returns a 3D scene reconstruction of the hierarchical map. More...

void	dumpAsText (std::vector< std::string > &s) const
	Return a textual description of the whole graph. More...

double	computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, size_t monteCarloSamples=100, const float margin_to_substract=6) const
	Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. 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...

Protected Member Functions
void	onNodeAddition (CHMHMapNode::Ptr &node)
	Event handler to be called just after a node has being created: it will be added to the internal list. More...

void	onArcAddition (CHMHMapArc::Ptr &arc)
	Event handler to be called just after an arc has being created: it will be added to the internal list. More...

void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it will be removed from the internal list. More...

void	onArcDestruction (CHMHMapArc *arc)
	Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. More...

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...

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...

Protected Attributes
TNodeList	m_nodes
	The internal list of nodes and arcs in the whole hierarchical model. More...

TArcList	m_arcs

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

Friends
class	CHMHMapArc

class	CHMHMapNode

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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...

Logging methods
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)

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...

Member Typedef Documentation

◆ const_iterator

using mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator = TNodeList::const_iterator

inherited

Definition at line 48 of file CHierarchicalMapMHPartition.h.

◆ ConstPtr

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

Definition at line 32 of file CHierarchicalMHMap.h.

◆ ConstUniquePtr

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

Definition at line 32 of file CHierarchicalMHMap.h.

◆ iterator

using mrpt::hmtslam::CHierarchicalMapMHPartition::iterator = TNodeList::iterator

inherited

Definition at line 47 of file CHierarchicalMapMHPartition.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 32 of file CHierarchicalMHMap.h.

◆ TNodeIDsList

using mrpt::hmtslam::CHierarchicalMapMHPartition::TNodeIDsList = std::vector<CHMHMapNode::TNodeID>

inherited

A type that reprensents a sequence of node IDs.

Definition at line 61 of file CHierarchicalMapMHPartition.h.

◆ UniquePtr

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

Definition at line 32 of file CHierarchicalMHMap.h.

Constructor & Destructor Documentation

◆ CHierarchicalMHMap()

CHierarchicalMHMap::CHierarchicalMHMap ( )

default

Default constructor.

◆ ~CHierarchicalMHMap()

CHierarchicalMHMap::~CHierarchicalMHMap ( )

override

Definition at line 32 of file CHierarchicalMHMap.cpp.

References mrpt::containers::clear().

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Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ arcCount()

size_t CHierarchicalMapMHPartition::arcCount ( ) const

inherited

Returns the number of arcs in the partition:

Definition at line 45 of file CHierarchicalMapMHPartition.cpp.

◆ areNodesNeightbour()

bool CHierarchicalMapMHPartition::areNodesNeightbour	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		const char *	requiredAnnotation = `nullptr`
	)		const

inherited

Returns whether two nodes are "neightbour", i.e.

have a direct arc between them

Definition at line 1059 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ begin() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) const

inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 51 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ begin() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( )

inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 53 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ clear()

void CHierarchicalMHMap::clear ( )

Erase all the contents of map (It delete all nodes/arcs objects)

Definition at line 36 of file CHierarchicalMHMap.cpp.

◆ clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeCoordinatesTransformationBetweenNodes()

void CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		mrpt::poses::CPose3DPDFParticles &	posePDF,
		const THypothesisID &	hypothesisID,
		unsigned int	particlesCount = `100`,
		float	additionalNoiseXYratio = `0.02`,
		float	additionalNoisePhiRad = `mrpt::DEG2RAD(0.1)`
	)		const

inherited

Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.

Exceptions

std::exception If there is not enough information in arcs to compute the PDF

See also: computeGloballyConsistentNodeCoordinates

Definition at line 855 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::random::getRandomGenerator(), mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_REF_POSEID, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::normalizeWeights(), mrpt::poses::CPose3DPDFParticles::resetDeterministic(), and mrpt::math::size().

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◆ computeGloballyConsistentNodeCoordinates()

void CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates	(	std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian > &	nodePoses,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterations = `2`
	)		const

inherited

This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.

Global coordinates will be computed relative to the node "idReferenceNode".

Exceptions

std::exception If there is any node without a pose arc, invalid (non invertible) matrixes, etc...

See also: computeCoordinatesTransformationBetweenNodes

Definition at line 1295 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::insertEdgeAtEnd(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::graphslam::optimize_graph_spa_levmarq(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root, and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

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◆ computeMatchProbabilityBetweenNodes()

float CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		float &	maxMatchProb,
		mrpt::poses::CPose3DPDFSOG &	estimatedRelativePose,
		const THypothesisID &	hypothesisID,
		unsigned int	monteCarloSamplesPose = `300`
	)

inherited

Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".

Definition at line 984 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ computeOverlapProbabilityBetweenNodes()

double CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		size_t	monteCarloSamples = `100`,
		const float	margin_to_substract = `6`
	)		const

inherited

Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.

Exceptions

std::exception If there is not enough information in arcs, etc...

Parameters

margin_to_substract In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.

Definition at line 1541 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, and mrpt::math::RectanglesIntersection().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 32 of file CHierarchicalMHMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 32 of file CHierarchicalMHMap.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 32 of file CHierarchicalMHMap.h.

◆ dumpAsText()

void CHierarchicalMapMHPartition::dumpAsText ( std::vector< std::string > & s ) const

inherited

Return a textual description of the whole graph.

Definition at line 1370 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::format(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), RAD2DEG, mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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◆ dumpAsXMLfile()

void CHierarchicalMHMap::dumpAsXMLfile ( std::string fileName ) const

Destructor.

Save the whole graph as a XML file

Definition at line 160 of file CHierarchicalMHMap.cpp.

References THROW_EXCEPTION.

◆ 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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◆ end() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) const

inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 55 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ end() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( )

inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 57 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ findArcOfTypeBetweenNodes()

CHMHMapArc::Ptr CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		bool &	isInverted
	)		const

inherited

Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.

Returns: The arc, or nullptr if not found.

Definition at line 1507 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsBetweenNodes()

void CHierarchicalMapMHPartition::findArcsBetweenNodes	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		TArcList &	out_listArcs
	)		const

inherited

Returns all the arcs between a pair of nodes:

Definition at line 1000 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsOfTypeBetweenNodes()

void CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		TArcList &	ret
	)		const

inherited

Returns the arcs between a pair of nodes of a given type.

Definition at line 1029 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findPathBetweenNodes()

void CHierarchicalMapMHPartition::findPathBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		TArcList &	out_path,
		bool	direction = `false`
	)		const

inherited

The Dijkstra algorithm for finding the shortest path between a pair of nodes.

Returns: The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.

Definition at line 726 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, ASSERTMSG_, mrpt::format(), MRPT_END, and MRPT_START.

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◆ getAs3DScene()

void CHierarchicalMapMHPartition::getAs3DScene	(	mrpt::opengl::COpenGLScene &	outScene,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterationsForOptimalGlobalPoses = `5`,
		bool	showRobotPoseIDs = `true`
	)		const

inherited

Returns a 3D scene reconstruction of the hierarchical map.

See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"

Definition at line 1094 of file CHierarchicalMapMHPartition.cpp.

References mrpt::poses::CPose3D::addComponents(), mrpt::opengl::COpenGLScene::clear(), mrpt::opengl::CSimpleLine::Create(), mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CSphere::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CDisk::Create(), mrpt::opengl::CText::Create(), mrpt::format(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, mrpt::poses::CPose3D::normalizeAngles(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getClassName()

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

inlinestatic

Definition at line 32 of file CHierarchicalMHMap.h.

◆ getFirstNode()

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getFirstNode ( )

inherited

Returns the first node in the graph, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 117 of file CHierarchicalMapMHPartition.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 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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◆ getNodeByID() [1/2]

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id )

inherited

Returns the node with the given ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 49 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

◆ getNodeByID() [2/2]

const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id ) const

inherited

Returns the node with the given ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 63 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

◆ getNodeByLabel() [1/2]

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)

inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 78 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

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◆ getNodeByLabel() [2/2]

const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)		const

inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 97 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::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::CHierarchicalMHMap::GetRuntimeClassIdStatic ( )

static

◆ 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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◆ loadFromXMLfile()

void CHierarchicalMHMap::loadFromXMLfile ( std::string fileName )

Load a graph from a XML file.

Definition at line 153 of file CHierarchicalMHMap.cpp.

References THROW_EXCEPTION.

◆ 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::hmtslam::CHMTSLAM::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(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::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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◆ nodeCount()

size_t CHierarchicalMapMHPartition::nodeCount ( ) const

inherited

Returns the number of nodes in the partition:

Definition at line 41 of file CHierarchicalMapMHPartition.cpp.

◆ onArcAddition()

void CHierarchicalMHMap::onArcAddition ( CHMHMapArc::Ptr & arc )

protected

Event handler to be called just after an arc has being created: it will be added to the internal list.

Definition at line 144 of file CHierarchicalMHMap.cpp.

◆ onArcDestruction()

void CHierarchicalMHMap::onArcDestruction ( CHMHMapArc * arc )

protected

Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.

Note: At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Definition at line 112 of file CHierarchicalMHMap.cpp.

◆ onNodeAddition()

void CHierarchicalMHMap::onNodeAddition ( CHMHMapNode::Ptr & node )

protected

Event handler to be called just after a node has being created: it will be added to the internal list.

Definition at line 123 of file CHierarchicalMHMap.cpp.

References ASSERT_.

◆ onNodeDestruction()

void CHierarchicalMHMap::onNodeDestruction ( CHMHMapNode * node )

protected

Event handler to be called just before a node is being destroyed: it will be removed from the internal list.

Note: At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Definition at line 99 of file CHierarchicalMHMap.cpp.

References mrpt::hmtslam::CHMHMapNode::getID().

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◆ saveAreasDiagramForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID
	)		const

inherited

Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)

The partition may be empty if no node fulfills the condition.
All arcs STARTING at each node from the partition will be added to the partition as well.
Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.
See also
CHMHMapArc Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:
Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 128 of file CHierarchicalMapMHPartition.cpp.

◆ saveAreasDiagramWithEllipsedForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		float	uncertaintyExagerationFactor = `1.0f`,
		bool	drawArcs = `false`,
		unsigned int	numberOfIterationsForOptimalGlobalPoses = `4`
	)		const

inherited

Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.

ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 305 of file CHierarchicalMapMHPartition.cpp.

◆ saveGlobalMapForMATLAB()

void CHierarchicalMapMHPartition::saveGlobalMapForMATLAB	(	const std::string &	filName,
		const THypothesisID &	hypothesisID,
		const CHMHMapNode::TNodeID &	idReferenceNode
	)		const

inherited

Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 481 of file CHierarchicalMapMHPartition.cpp.

◆ serializeFrom() [1/2]

void CHierarchicalMHMap::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 56 of file CHierarchicalMHMap.cpp.

References mrpt::containers::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ serializeFrom() [2/2]

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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◆ serializeGetVersion()

uint8_t CHierarchicalMHMap::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 44 of file CHierarchicalMHMap.cpp.

◆ serializeTo() [1/2]

void CHierarchicalMHMap::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 45 of file CHierarchicalMHMap.cpp.

References out.

◆ serializeTo() [2/2]

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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◆ 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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◆ 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

◆ CHMHMapArc

friend class CHMHMapArc

friend

Definition at line 29 of file CHierarchicalMHMap.h.

◆ CHMHMapNode

friend class CHMHMapNode

friend

Definition at line 30 of file CHierarchicalMHMap.h.

Member Data Documentation

◆ className

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

static

Definition at line 32 of file CHierarchicalMHMap.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_arcs

TArcList mrpt::hmtslam::CHierarchicalMapMHPartition::m_arcs

protectedinherited

Definition at line 44 of file CHierarchicalMapMHPartition.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_nodes

TNodeList mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes

protectedinherited

The internal list of nodes and arcs in the whole hierarchical model.

The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.

Definition at line 43 of file CHierarchicalMapMHPartition.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::begin(), and mrpt::hmtslam::CHierarchicalMapMHPartition::end().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CHierarchicalMHMap::runtimeClassId

staticprotected

Definition at line 32 of file CHierarchicalMHMap.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Logging methods

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ TNodeIDsList

◆ UniquePtr

Constructor & Destructor Documentation

◆ CHierarchicalMHMap()

◆ ~CHierarchicalMHMap()

Member Function Documentation

◆ _GetBaseClass()

◆ arcCount()

◆ areNodesNeightbour()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ computeCoordinatesTransformationBetweenNodes()

◆ computeGloballyConsistentNodeCoordinates()

◆ computeMatchProbabilityBetweenNodes()

◆ computeOverlapProbabilityBetweenNodes()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ dumpAsText()

◆ dumpAsXMLfile()

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ findArcOfTypeBetweenNodes()

◆ findArcsBetweenNodes()

◆ findArcsOfTypeBetweenNodes()

◆ findPathBetweenNodes()

◆ getAs3DScene()

◆ getClassName()

◆ getFirstNode()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNodeByID() [1/2]

◆ getNodeByID() [2/2]

◆ getNodeByLabel() [1/2]

◆ getNodeByLabel() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ isLoggingLevelVisible()

◆ loadFromXMLfile()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ nodeCount()

◆ onArcAddition()

◆ onArcDestruction()

◆ onNodeAddition()

◆ onNodeDestruction()

◆ saveAreasDiagramForMATLAB()

◆ saveAreasDiagramWithEllipsedForMATLAB()

◆ saveGlobalMapForMATLAB()

◆ serializeFrom() [1/2]