Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >

Interface for implementing graphSLAM optimizer classes.

Class should provide a generic interface from which real optimizers should inherit so that they abide to the necessary method calls used in the CGraphSlamEngine class. For an example of inheriting from this class see CLevMarqGSO.

Note: As a naming convention, all the implemented graphslam optimizer classes are suffixed with the GSO acronym.

Definition at line 43 of file CGraphSlamOptimizer.h.

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

Inheritance diagram for mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >:

Public Types

typedef GRAPH_t::constraint_t	constraint_t
	Handy typedefs. More...

typedef GRAPH_t::constraint_t::type_value	pose_t

Public Member Functions
	CGraphSlamOptimizer ()

	~CGraphSlamOptimizer ()

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/observation readings from the calling function. More...

virtual bool	justFullyOptimizedGraph () const
	Used by the caller to query for possible full graph optimization on the latest optimizer run. 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	getDescriptiveReport (std::string *report_str) const
	Fill the provided string with a detailed report of the decider/optimizer state. 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
virtual void	optimizeGraph ()=0
	method called for optimizing the underlying graph. More...

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

Protected Attributes
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 = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_t::constraint_t mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::constraint_t

Handy typedefs.

Definition at line 50 of file CGraphSlamOptimizer.h.

◆ pose_t

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

typedef GRAPH_t::constraint_t::type_value mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::pose_t

Definition at line 52 of file CGraphSlamOptimizer.h.

Constructor & Destructor Documentation

◆ CGraphSlamOptimizer()

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

mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::CGraphSlamOptimizer ( )

inline

Definition at line 55 of file CGraphSlamOptimizer.h.

◆ ~CGraphSlamOptimizer()

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

mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::~CGraphSlamOptimizer ( )

inline

Definition at line 56 of file CGraphSlamOptimizer.h.

Member Function Documentation

◆ assertVisualsVars()

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.

References ASSERTMSG_.

◆ getClassName()

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

inlineinherited

Definition at line 139 of file CRegistrationDeciderOrOptimizer.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name.

◆ getDescriptiveReport()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getDescriptiveReport ( std::string * report_str ) const

virtualinherited

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 in mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t >, and mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >.

Definition at line 132 of file CRegistrationDeciderOrOptimizer_impl.h.

References MRPT_LOG_DEBUG_STREAM.

◆ initializeLoggers()

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.

References MRPT_LOG_DEBUG_STREAM.

◆ initializeVisuals()

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

Definition at line 91 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ isMultiRobotSlamClass()

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

inherited

Definition at line 149 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justFullyOptimizedGraph()

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

virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::justFullyOptimizedGraph ( ) const

inlinevirtual

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

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >.

Definition at line 74 of file CGraphSlamOptimizer.h.

◆ loadParams()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::loadParams ( const std::string & source_fname )

virtualinherited

Load the necessary for the decider/optimizer configuration parameters.

Definition at line 119 of file CRegistrationDeciderOrOptimizer_impl.h.

References MRPT_LOG_DEBUG_STREAM.

◆ notifyOfWindowEvents()

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.

Definition at line 112 of file CRegistrationDeciderOrOptimizer_impl.h.

References ASSERT_.

◆ optimizeGraph()

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

virtual void mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::optimizeGraph ( )

protectedpure virtual

method called for optimizing the underlying graph.

Implemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >.

◆ printParams()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::printParams ( ) const

virtualinherited

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

Definition at line 126 of file CRegistrationDeciderOrOptimizer_impl.h.

References MRPT_LOG_DEBUG_STREAM.

◆ setClassName()

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

virtualinherited

Definition at line 59 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

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()

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.

References MRPT_LOG_DEBUG_STREAM.

◆ setWindowManagerPtr()

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.

References ASSERT_, and mrpt::graphslam::CWindowManager::win.

◆ updateState()

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

virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< 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/observation readings from the calling function.

Implementations of this interface should use (part of) the specified parameters and call the optimizeGraph function if the decision is to optimize the provided graph