Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also: CMetricMap

Definition at line 35 of file CMetricMapBuilder.h.

#include <mrpt/slam/CMetricMapBuilder.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilder:

Classes
struct	TOptions
	Options for the algorithm. More...

Public Member Functions
	CMetricMapBuilder ()
	Constructor. More...

virtual	~CMetricMapBuilder ()
	Destructor. More...

void	clear ()
	Clear all elements of the maps, and reset localization to (0,0,0deg). More...

void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled) More...

void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...

void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...

Pure virtual methods to implement in any particular SLAM algorithm
virtual void	initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr)=0
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...

virtual mrpt::poses::CPose3DPDF::Ptr	getCurrentPoseEstimation () const =0
	Returns a copy of the current best pose estimation as a pose PDF. More...

virtual void	processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)=0
	Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description. More...

virtual void	getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const =0
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...

virtual unsigned int	getCurrentlyBuiltMapSize ()=0
	Returns just how many sensory-frames are stored in the currently build map. More...

virtual const mrpt::maps::CMultiMetricMap *	getCurrentlyBuiltMetricMap () const =0
	Returns the map built so far. More...

virtual void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)=0
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...

Public Attributes
TOptions	options

Protected Member Functions
void	enterCriticalSection ()
	Enter critical section for map updating. More...

void	leaveCriticalSection ()
	Leave critical section for map updating. More...

Protected Attributes
std::mutex	critZoneChangingMap
	Critical zones. More...

Constructor & Destructor Documentation

◆ CMetricMapBuilder()

CMetricMapBuilder::CMetricMapBuilder ( )

Constructor.

Definition at line 25 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

◆ ~CMetricMapBuilder()

CMetricMapBuilder::~CMetricMapBuilder ( )

virtual

Destructor.

Definition at line 32 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

Member Function Documentation

◆ clear()

void CMetricMapBuilder::clear ( )

Clear all elements of the maps, and reset localization to (0,0,0deg).

Definition at line 41 of file CMetricMapBuilder.cpp.

References initialize(), and MRPT_LOG_DEBUG.

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◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool enable )

inline

Enables or disables the map updating (default state is enabled)

Definition at line 106 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and options.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )

inlineprotected

Enter critical section for map updating.

Definition at line 41 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ getCurrentlyBuiltMap()

virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap & out_map ) const

pure virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by saveCurrentMapToFile().

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◆ getCurrentlyBuiltMapSize()

virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize ( )

pure virtual

Returns just how many sensory-frames are stored in the currently build map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ getCurrentlyBuiltMetricMap()

virtual const mrpt::maps::CMultiMetricMap* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap ( ) const

pure virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "clone()".

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ getCurrentPoseEstimation()

virtual mrpt::poses::CPose3DPDF::Ptr mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation ( ) const

pure virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ initialize()

virtual void mrpt::slam::CMetricMapBuilder::initialize	(	const mrpt::maps::CSimpleMap &	initialMap = `mrpt::maps::CSimpleMap()`,
		const mrpt::poses::CPosePDF *	x0 = `nullptr`
	)

pure virtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by clear(), and loadCurrentMapFromFile().

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◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )

inlineprotected

Leave critical section for map updating.

Definition at line 43 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string & fileName )

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 54 of file CMetricMapBuilder.cpp.

References mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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◆ processActionObservation()

virtual void mrpt::slam::CMetricMapBuilder::processActionObservation	(	mrpt::obs::CActionCollection &	action,
		mrpt::obs::CSensoryFrame &	observations
	)

pure virtual

Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters

action	The estimation of the incremental pose change in the robot pose.
observations	The set of observations that robot senses at the new pose.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ saveCurrentEstimationToImage()

virtual void mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage	(	const std::string &	file,
		bool	formatEMF_BMP = `true`
	)

pure virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ saveCurrentMapToFile()

void CMetricMapBuilder::saveCurrentMapToFile	(	const std::string &	fileName,
		bool	compressGZ = `true`
	)		const

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 86 of file CMetricMapBuilder.cpp.

References CFileGZOutputStream, getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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Member Data Documentation

◆ critZoneChangingMap

std::mutex mrpt::slam::CMetricMapBuilder::critZoneChangingMap

protected

Critical zones.

Definition at line 39 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), enterCriticalSection(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), leaveCriticalSection(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options

Definition at line 143 of file CMetricMapBuilder.h.

Referenced by enableMapUpdating(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ CMetricMapBuilder()

◆ ~CMetricMapBuilder()

Member Function Documentation

◆ clear()

◆ enableMapUpdating()

◆ enterCriticalSection()

◆ getCurrentlyBuiltMap()

◆ getCurrentlyBuiltMapSize()

◆ getCurrentlyBuiltMetricMap()

◆ getCurrentPoseEstimation()

◆ initialize()

◆ leaveCriticalSection()

◆ loadCurrentMapFromFile()

◆ processActionObservation()

◆ saveCurrentEstimationToImage()

◆ saveCurrentMapToFile()

Member Data Documentation

◆ critZoneChangingMap

◆ options