CIncrementalNodeRegistrationDecider.h

Go to the documentation of this file.

#ifndef CINCREMENTALNODEREGISTRATIONDECIDER_H_WPM0MYXZ
#define CINCREMENTALNODEREGISTRATIONDECIDER_H_WPM0MYXZ
 
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/poses/CPose3DPDF.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/CConfigFile.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CStream.h>
 
#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>
 
#include <math.h>
 
namespace mrpt
{
namespace graphslam
{
namespace deciders
{
/**\brief Incremental Node registration decider. Decider adds new nodes in the
 * graph in an incremental fashion (adding nodes at the end of the graph)
 *
 * ### .ini Configuration Parameters
 *
 * \htmlinclude config_params_preamble.txt
 *
 * - \b class_verbosity
 *   + \a Section       : NodeRegistrationDeciderParameters
 *   + \a default value : 1 (LVL_INFO)
 *   + \a Required      : FALSE
 *
 * - \b registration_max_distance
 *  + \a Section       : NodeRegistrationDeciderParameters
 *  + \a Default value : 0.5 // meters
 *  + \a Required      : FALSE
 *
 * - \b registration_max_angle
 *  + \a Section       : NodeRegistrationDeciderParameters
 *  + \a Default value : 10 // degrees
 *  + \a Required      : FALSE
 *
 * \ingroup mrpt_graphslam_grp
 *
 */
template <class GRAPH_T>
class CIncrementalNodeRegistrationDecider
        : public virtual mrpt::graphslam::deciders::CNodeRegistrationDecider<
                  GRAPH_T>
{
   public:
        /**\brief Handy typedefs */
        /**\{*/
        /**\brief type of graph constraints */
        typedef typename GRAPH_T::constraint_t constraint_t;
        /**\brief type of underlying poses (2D/3D). */
        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; /**< self type - Handy typedef */
        /**\brief Node Registration Decider */
        typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>
                parent_t;
 
        /**\}*/
 
        CIncrementalNodeRegistrationDecider();
        virtual ~CIncrementalNodeRegistrationDecider();
 
        /**\name Registration Conditions Specifiers
        */
        /**\{ */
        /**\brief If estimated position surpasses the registration max values since
         * the previous registered node, register a new node in the graph.
         *
         * \return True on successful registration.
         */
        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;
 
   protected:
        /**\brief Parameters structure for managing the relevant to the decider
         * variables in a compact manner
         */
        struct TParams : public mrpt::utils::CLoadableOptions
        {
           public:
                TParams();
                ~TParams();
 
                void loadFromConfigFile(
                        const mrpt::utils::CConfigFileBase& source,
                        const std::string& section);
                void dumpToTextStream(mrpt::utils::CStream& out) const;
                /**\brief Return a string with the configuration parameters
                */
                void getAsString(std::string* params_out) const;
                std::string getAsString() const;
 
                // max values for new node registration
                double registration_max_distance;
                double registration_max_angle;
        };
 
        // Public members
        // ////////////////////////////
        TParams params;
 
   private:
};
}
}
}  // end of namespaces
 
#include "CIncrementalNodeRegistrationDecider_impl.h"
#endif /* end of include guard: CINCREMENTALNODEREGISTRATIONDECIDER_H_WPM0MYXZ \
                  */