Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >

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

The configuration parameters of the current class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

class_verbosity
- Section : NodeRegistrationDeciderParameters
- default value : 1 (LVL_INFO)
- Required : FALSE
registration_max_distance
- Section : NodeRegistrationDeciderParameters
- Default value : 0.5 // meters
- Required : FALSE
registration_max_angle
- Section : NodeRegistrationDeciderParameters
- Default value : 10 // degrees
- Required : FALSE

Definition at line 47 of file CIncrementalNodeRegistrationDecider.h.

#include <mrpt/graphslam/interfaces/CIncrementalNodeRegistrationDecider.h>

Inheritance diagram for mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >:

Classes
struct	TParams
	Parameters structure for managing the relevant to the decider variables in a compact manner. More...

Public Types

typedef GRAPH_T::constraint_t	constraint_t
	Handy typedefs. More...

typedef GRAPH_T::constraint_t::type_value	pose_t
	type of underlying poses (2D/3D). More...

typedef GRAPH_T::global_pose_t	global_pose_t

typedef CIncrementalNodeRegistrationDecider< GRAPH_T >	decider_t
	self type - Handy typedef More...

typedef mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >	parent_t
	Node Registration Decider. More...


typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	inf_mat_t

Public Member Functions
	CIncrementalNodeRegistrationDecider ()

virtual	~CIncrementalNodeRegistrationDecider ()

virtual void	loadParams (const std::string &source_fname)
	Load the necessary for the decider/optimizer configuration parameters. More...

virtual void	printParams () const
	Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...

virtual void	getDescriptiveReport (std::string *report_str) const
	Fill the provided string with a detailed report of the decider/optimizer state. More...

virtual global_pose_t	getCurrentRobotPosEstimation () const
	Getter method for fetching the currently estimated robot position. More...

virtual bool	updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)=0
	Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function. More...

virtual void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
	Fetch a CWindowManager pointer. More...

virtual void	setCriticalSectionPtr (std::mutex *graph_section)
	Fetch a std::mutex for locking the GRAPH_T resource. More...

virtual void	initializeVisuals ()
	Initialize visual objects in CDisplayWindow (e.g. More...

virtual void	updateVisuals ()
	Update the relevant visual features in CDisplayWindow. More...

virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
	Get a list of the window events that happened since the last call. More...

virtual void	setGraphPtr (GRAPH_T *graph)
	Fetch the graph on which the decider/optimizer will work on. More...

virtual void	initializeLoggers (const std::string &name)
	Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand. More...

virtual void	setClassName (const std::string &name)

bool	isMultiRobotSlamClass ()

std::string	getClassName () const

Registration Conditions Specifiers
virtual bool	checkRegistrationCondition ()
	If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph. More...

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

Protected Member Functions
void	resetPDF (constraint_t *c)
	Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...

virtual void	assertVisualsVars ()
	Handy function for making all the visuals assertions in a compact manner. More...


bool	registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
	Utility methods for adding new poses to the graph. More...

bool	registerNewNodeAtEnd ()
	Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...

virtual void	addNodeAnnotsToPose (global_pose_t *pose) const
	Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...

Protected Attributes
TParams	params

mrpt::utils::TNodeID	m_prev_registered_nodeID
	Store the last registered NodeID. More...

constraint_t	m_since_prev_node_PDF
	Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...

inf_mat_t	m_init_inf_mat
	Initial information matrix for paths. More...

GRAPH_T *	m_graph
	Pointer to the graph that is under construction. More...

std::mutex *	m_graph_section

mrpt::utils::CTimeLogger	m_time_logger
	Time logger instance. More...

std::string	m_class_name
	Name of the class instance. More...

bool	is_mr_slam_class
	Boolean indicating if the current class can be used in multi-robot SLAM operations. More...

Visuals-related variables methods
mrpt::graphslam::CWindowManager *	m_win_manager
	Pointer to the CWindowManager object used to store visuals-related instances. More...

mrpt::gui::CDisplayWindow3D *	m_win
	Window to use. More...

mrpt::graphslam::CWindowObserver *	m_win_observer
	CWindowObserver object for monitoring various visual-oriented events. More...

bool	m_initialized_visuals

Static Protected Attributes
static const std::string	header_sep
	Separator string to be used in debugging messages. More...

static const std::string	report_sep

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T >

typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 55 of file CIncrementalNodeRegistrationDecider.h.

◆ decider_t

template<class GRAPH_T >

typedef CIncrementalNodeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::decider_t

self type - Handy typedef

Definition at line 60 of file CIncrementalNodeRegistrationDecider.h.

◆ global_pose_t

template<class GRAPH_T >

typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::global_pose_t

Definition at line 58 of file CIncrementalNodeRegistrationDecider.h.

◆ inf_mat_t

template<class GRAPH_T>

typedef mrpt::math::CMatrixFixedNumeric<double, constraint_t::state_length, constraint_t::state_length> mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::inf_mat_t

inherited

Definition at line 57 of file CNodeRegistrationDecider.h.

◆ parent_t

template<class GRAPH_T >

typedef mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::parent_t

Node Registration Decider.

Definition at line 63 of file CIncrementalNodeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T >

typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::pose_t

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

Definition at line 57 of file CIncrementalNodeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CIncrementalNodeRegistrationDecider()

template<class GRAPH_T >

mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::CIncrementalNodeRegistrationDecider ( )

Definition at line 12 of file CIncrementalNodeRegistrationDecider_impl.h.

◆ ~CIncrementalNodeRegistrationDecider()

template<class GRAPH_T >

mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::~CIncrementalNodeRegistrationDecider ( )

virtual

Definition at line 18 of file CIncrementalNodeRegistrationDecider_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >

void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t * pose ) const

protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note: Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 145 of file CNodeRegistrationDecider_impl.h.

◆ assertVisualsVars()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )

protectedvirtualinherited

Handy function for making all the visuals assertions in a compact manner.

Definition at line 98 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( )

virtual

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.

Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 23 of file CIncrementalNodeRegistrationDecider_impl.h.

References INVALID_NODEID, MRPT_END, and MRPT_START.

◆ checkRegistrationConditionPose() [1/2]

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose	(	const mrpt::poses::CPose2D &	p1,
		const mrpt::poses::CPose2D &	p2
	)		const

virtual

Definition at line 49 of file CIncrementalNodeRegistrationDecider_impl.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::poses::CPose2D::phi(), and mrpt::math::wrapToPi().

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◆ checkRegistrationConditionPose() [2/2]

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::checkRegistrationConditionPose	(	const mrpt::poses::CPose3D &	p1,
		const mrpt::poses::CPose3D &	p2
	)		const

virtual

Definition at line 66 of file CIncrementalNodeRegistrationDecider_impl.h.

References mrpt::poses::CPose3D::asString(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), and mrpt::poses::CPose3D::yaw().

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◆ getClassName()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const

inlineinherited

Definition at line 139 of file CRegistrationDeciderOrOptimizer.h.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >

GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const

virtualinherited

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position

Reimplemented in mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >.

Definition at line 152 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::getDescriptiveReport ( std::string * report_str ) const

virtual

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

Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 113 of file CIncrementalNodeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

◆ initializeLoggers()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers ( const std::string & name )

virtualinherited

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

Definition at line 43 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::CLevMarqGSO().

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◆ initializeVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )

virtualinherited

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Exceptions

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

See also: setWindowManagerPtr, updateVisuals

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 91 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initializeVisuals().

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◆ isMultiRobotSlamClass()

template<class GRAPH_T >

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )

inherited

Definition at line 149 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ loadParams()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::loadParams ( const std::string & source_fname )

virtual

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 89 of file CIncrementalNodeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

◆ notifyOfWindowEvents()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > & events_occurred )

virtualinherited

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.

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 112 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().

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◆ printParams()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::printParams ( ) const

virtual

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

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 103 of file CIncrementalNodeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t & constraint )

protectedinherited

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters

[in] constraint Constraint transformation from the latest registered to the new node.

Returns: True upon successful node registration.

Definition at line 58 of file CNodeRegistrationDecider_impl.h.

◆ registerNewNodeAtEnd() [2/2]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )

protectedinherited

Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end.

Definition at line 121 of file CNodeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition().

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◆ resetPDF()

template<class GRAPH_T >

void CNodeRegistrationDecider::resetPDF ( constraint_t * c )

protectedinherited

Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix.

Definition at line 132 of file CNodeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

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◆ setClassName()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string & name )

virtualinherited

Definition at line 59 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( std::mutex * graph_section )

virtualinherited

Fetch a std::mutex for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning: Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn't effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

Definition at line 82 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setGraphPtr()

template<class GRAPH_T>

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr ( GRAPH_T * graph )

virtualinherited

Fetch the graph on which the decider/optimizer will work on.

Definition at line 140 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setWindowManagerPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager * win_manager )

virtualinherited

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

Definition at line 68 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T>

virtual bool mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::updateState	(	mrpt::obs::CActionCollection::Ptr	action,
		mrpt::obs::CSensoryFrame::Ptr	observations,
		mrpt::obs::CObservation::Ptr	observation
	)

pure virtualinherited

Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function.

Implementations of this interface should use (part of) the specified parameters and call the checkRegistrationCondition to check for potential node registration

Returns: True upon successful node registration in the graph

Implements mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Implemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >.

◆ updateVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::updateVisuals ( )

virtualinherited

Update the relevant visual features in CDisplayWindow.

Exceptions

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

See also: setWindowManagerPtr, initializeVisuals

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 106 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateVisuals().

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Member Data Documentation

◆ header_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep

staticprotectedinherited

Initial value:

=

std::string(80, '-')

Separator string to be used in debugging messages.

Definition at line 175 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getDescriptiveReport().

◆ is_mr_slam_class

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::is_mr_slam_class

protectedinherited

Boolean indicating if the current class can be used in multi-robot SLAM operations.

Definition at line 171 of file CRegistrationDeciderOrOptimizer.h.

◆ m_class_name

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name

protectedinherited

Name of the class instance.

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName().

◆ m_graph

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

GRAPH_T* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph

protectedinherited

Pointer to the graph that is under construction.

Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.

◆ m_graph_section

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::mutex* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section

protectedinherited

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::optimizeGraph().

◆ m_init_inf_mat

template<class GRAPH_T>

inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat

protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 141 of file CNodeRegistrationDecider.h.

◆ m_initialized_visuals

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals

protectedinherited

Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.

◆ m_prev_registered_nodeID

template<class GRAPH_T>

mrpt::utils::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID

protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 131 of file CNodeRegistrationDecider.h.

◆ m_since_prev_node_PDF

template<class GRAPH_T>

constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF

protectedinherited

Tracking the PDF of the current position of the robot with regards to the <b previous registered node.

Definition at line 135 of file CNodeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

◆ m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger

protectedinherited

Time logger instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

◆ m_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win

protectedinherited

Window to use.

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

◆ m_win_manager

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager

protectedinherited

Pointer to the CWindowManager object used to store visuals-related instances.

Definition at line 155 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization().

◆ m_win_observer

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer

protectedinherited

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 160 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization().

◆ params

template<class GRAPH_T >

TParams mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::params

protected

Definition at line 115 of file CIncrementalNodeRegistrationDecider.h.

◆ report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep

staticprotectedinherited

Initial value:

=

std::string(2, '\n')

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getDescriptiveReport().

Detailed Description

template<class GRAPH_T> class mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >

.ini Configuration Parameters

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Typedef Documentation

◆ constraint_t

◆ decider_t

◆ global_pose_t

◆ inf_mat_t

◆ parent_t

◆ pose_t

Constructor & Destructor Documentation

◆ CIncrementalNodeRegistrationDecider()

◆ ~CIncrementalNodeRegistrationDecider()

Member Function Documentation

◆ addNodeAnnotsToPose()

◆ assertVisualsVars()

◆ checkRegistrationCondition()

◆ checkRegistrationConditionPose() [1/2]

◆ checkRegistrationConditionPose() [2/2]

◆ getClassName()

◆ getCurrentRobotPosEstimation()

◆ getDescriptiveReport()

◆ initializeLoggers()

◆ initializeVisuals()

◆ isMultiRobotSlamClass()

◆ loadParams()

◆ notifyOfWindowEvents()

◆ printParams()

◆ registerNewNodeAtEnd() [1/2]

◆ registerNewNodeAtEnd() [2/2]

◆ resetPDF()

◆ setClassName()

◆ setCriticalSectionPtr()

◆ setGraphPtr()

◆ setWindowManagerPtr()

◆ updateState()

◆ updateVisuals()

Member Data Documentation

◆ header_sep

◆ is_mr_slam_class

◆ m_class_name

◆ m_graph

◆ m_graph_section

◆ m_init_inf_mat

◆ m_initialized_visuals

◆ m_prev_registered_nodeID

◆ m_since_prev_node_PDF

◆ m_time_logger

◆ m_win

◆ m_win_manager

◆ m_win_observer

◆ params

◆ report_sep

template<class GRAPH_T>
class mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >