template class mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider
Overview
Incremental Node registration decider.
Decider adds new nodes in the graph in an incremental fashion (adding nodes at the end of the graph)
#include <mrpt/graphslam/interfaces/CIncrementalNodeRegistrationDecider.h> template <class GRAPH_T> class CIncrementalNodeRegistrationDecider: public mrpt::graphslam::deciders::CNodeRegistrationDecider { public: // typedefs typedef typename GRAPH_T::constraint_t constraint_t; typedef typename GRAPH_T::constraint_t::type_value pose_t; typedef typename GRAPH_T::global_pose_t global_pose_t; typedef CIncrementalNodeRegistrationDecider<GRAPH_T> decider_t; typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T> parent_t; // structs struct TParams; // construction CIncrementalNodeRegistrationDecider(); // methods virtual bool checkRegistrationCondition(); virtual bool checkRegistrationConditionPose( const mrpt::poses::CPose2D& p1, const mrpt::poses::CPose2D& p2 ) const; virtual bool checkRegistrationConditionPose( const mrpt::poses::CPose3D& p1, const mrpt::poses::CPose3D& p2 ) const; 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 typename GRAPH_T::constraint_t::type_value pose_t; typedef typename GRAPH_T::global_pose_t global_pose_t; typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> inf_mat_t; // structs struct TMsg; // methods virtual void setClassName(const std::string& name); bool isMultiRobotSlamClass(); std::string getClassName() const;
Methods
virtual bool checkRegistrationCondition()
If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph.
Returns:
True on successful registration.
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