template class mrpt::graphslam::optimizers::CLevMarqGSO

Levenberg-Marquardt non-linear graph slam optimization scheme.

#include <mrpt/graphslam/GSO/CLevMarqGSO.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CLevMarqGSO: public mrpt::graphslam::optimizers::CGraphSlamOptimizer
{
public:
    // typedefs

    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;
    typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> InfMat;
    typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> grandpa;
    typedef mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T> parent;

    // structs

    struct GraphVisualizationParams;
    struct OptimizationParams;

    //
fields

    OptimizationParams opt_params;
    GraphVisualizationParams viz_params;

    // construction

    CLevMarqGSO();

    //
methods

    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation);
    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 getDescriptiveReport(std::string* report_str) const;
    virtual bool justFullyOptimizedGraph() const;
};

Inherited Members

public:
    // typedefs

    typedef typename GRAPH_t::constraint_t constraint_t;
    typedef typename GRAPH_t::constraint_t::type_value pose_t;

    // structs

    struct TMsg;

    //
methods

    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;

Typedefs

typedef typename GRAPH_T::constraint_t constraint_t

Handy typedefs.

typedef typename GRAPH_T::constraint_t::type_value pose_t

type of underlying poses (2D/3D)

Fields

OptimizationParams opt_params

Parameters relevant to the optimizatio nfo the graph.

GraphVisualizationParams viz_params

Parameters relevant to the visualization of the graph.

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 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

See also:

setWindowManagerPtr, initializeVisuals

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

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

virtual void loadParams(const std::string& source_fname)

Load the necessary for the decider/optimizer configuration parameters.

virtual void printParams() const

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

virtual void getDescriptiveReport(std::string* report_str) const

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

Timing of important methods
Properties fo class at the current time
Logging of commands until current time

virtual bool justFullyOptimizedGraph() const

Used by the caller to query for possible full graph optimization on the latest optimizer run.