template class mrpt::graphslam::deciders::CICPCriteriaERD

Overview

ICP-based Edge Registration.

#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CICPCriteriaERD: public mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider
{
public:
    // typedefs

    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;
    typedef CRangeScanEdgeRegistrationDecider<GRAPH_T> parent_t;
    typedef typename parent_t::range_ops_t range_ops_t;
    typedef CICPCriteriaERD<GRAPH_T> decider_t;
    typedef typename parent_t::nodes_to_scans2D_t nodes_to_scans2D_t;

    // structs

    struct TParams;

    // fields

    TParams params;

    // construction

    CICPCriteriaERD();

    // methods

    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation);
    virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred);
    virtual void getEdgesStats(std::map<std::string, int>* edge_type_to_num) const;
    virtual void initializeVisuals();
    virtual void updateVisuals();
    virtual void loadParams(const std::string& source_fname);
    virtual void printParams() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
};

Inherited Members

public:
    // typedefs

    typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> parent;
    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;
    typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T> parent_t;
    typedef mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T> range_ops_t;
    typedef std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> nodes_to_scans2D_t;

    // structs

    struct TMsg;
    struct TParams;

    // methods

    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;
    virtual void getEdgesStats(std::map<std::string, int>* edge_type_to_num) const;
    virtual bool justInsertedLoopClosure() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) = 0;
    virtual void setWindowManagerPtr(mrpt::graphslam::CWindowManager* win_manager);
    virtual void setCriticalSectionPtr(std::mutex* graph_section);
    virtual void initializeVisuals();
    virtual void updateVisuals();
    virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred);
    virtual void loadParams(const std::string& source_fname);
    virtual void printParams() const;
    virtual void setGraphPtr(typename mrpt::graphs::CNetworkOfPoses2DInf* graph);
    virtual void initializeLoggers(const std::string& name);

Typedefs

typedef typename GRAPH_T::constraint_t constraint_t

Handy typedefs.

type of graph constraints

typedef typename GRAPH_T::constraint_t::type_value pose_t

type of underlying poses (2D/3D).

typedef CICPCriteriaERD<GRAPH_T> decider_t

self type - Handy type

Methods

virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns:

True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred)

Get a list of the window events that happened since the last call.

Method in derived classes is automatically called from the CGraphSlamEngine_t instance. After that, decider/optimizer should just fetch the parameters that it is interested in.

virtual void getEdgesStats(std::map<std::string, int>* edge_type_to_num) const

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

virtual void initializeVisuals()

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Parameters:

std::exception

If the method is called without having first provided a CDisplayWindow3D* to the class instance