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mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > Class Template Referenceabstract

Detailed Description

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

Interface for implementing node registration classes.

CNodeRegistrationDecider provides the basic methods that have to exist in every node registration decider class. For an example of inheriting from this class see CFixedIntervalsNRD.

Note
As a naming convention, all the implemented node registration deciders are suffixed with the NRD acronym.

Definition at line 42 of file CNodeRegistrationDecider.h.

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

Inheritance diagram for mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >:
Inheritance graph

Public Types

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > parent_t
 Handy typedefs. More...
 
typedef GRAPH_T::constraint_t constraint_t
 type of graph constraints 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 mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > inf_mat_t
 

Public Member Functions

 CNodeRegistrationDecider ()
 Default class constructor. More...
 
virtual ~CNodeRegistrationDecider ()
 Default class destructor. 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 getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. 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 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 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
 

Protected Member Functions

void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
virtual bool checkRegistrationCondition ()
 Check whether a new node should be registered in the graph. 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

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::CWindowManagerm_win_manager
 Pointer to the CWindowManager object used to store visuals-related instances. More...
 
mrpt::gui::CDisplayWindow3Dm_win
 Window to use. More...
 
mrpt::graphslam::CWindowObserverm_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::CNodeRegistrationDecider< GRAPH_T >::constraint_t

type of graph constraints

Definition at line 51 of file CNodeRegistrationDecider.h.

◆ global_pose_t

template<class GRAPH_T>
typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::global_pose_t

Definition at line 54 of file CNodeRegistrationDecider.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

Definition at line 57 of file CNodeRegistrationDecider.h.

◆ parent_t

Handy typedefs.

Parent of current class

Definition at line 49 of file CNodeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T>
typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::pose_t

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

Definition at line 53 of file CNodeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CNodeRegistrationDecider()

template<class GRAPH_T >
CNodeRegistrationDecider::CNodeRegistrationDecider ( )

Default class constructor.

Definition at line 21 of file CNodeRegistrationDecider_impl.h.

◆ ~CNodeRegistrationDecider()

template<class GRAPH_T >
CNodeRegistrationDecider::~CNodeRegistrationDecider ( )
virtual

Default class destructor.

Definition at line 32 of file CNodeRegistrationDecider_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >
void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t pose) const
protectedvirtual

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 CNodeRegistrationDecider::checkRegistrationCondition ( )
protectedvirtual

Check whether a new node should be registered in the graph.

This should be the key-method in any implementation of this interface. Should call registerNewNodeAtEnd method if the registration condition is satisfied.

Returns
True upon successful node registration in the graph

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >.

Definition at line 52 of file CNodeRegistrationDecider_impl.h.

◆ 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
virtual

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 CNodeRegistrationDecider::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::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >.

Definition at line 37 of file CNodeRegistrationDecider_impl.h.

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

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◆ 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::exceptionIf 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::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams ( const std::string source_fname)
virtualinherited

◆ 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::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams ( ) const
virtualinherited

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protected

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters
[in]constraintConstraint 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 ( )
protected

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)
protected

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 virtual

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::exceptionIf 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

◆ 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

◆ m_graph_section

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::mutex* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section
protectedinherited

◆ m_init_inf_mat

template<class GRAPH_T>
inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat
protected

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
protected

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
protected

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

◆ m_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win
protectedinherited

◆ m_win_manager

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager
protectedinherited

◆ m_win_observer

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer
protectedinherited

◆ report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep
staticprotectedinherited



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