MRPT  1.9.9
List of all members | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::apps::RBPF_SLAM_App_Base Class Referenceabstract

Detailed Description

RBPF-SLAM virtual base class for application wrappers.

This virtual base provides the common code to the application rbpf-slam. It can be used by users to build their own RBPF-SLAM solution.

See also
mrpt::slam::CMetricMapBuilderRBPF

Definition at line 31 of file RBPF_SLAM_App.h.

#include <mrpt/apps/RBPF_SLAM_App.h>

Inheritance diagram for mrpt::apps::RBPF_SLAM_App_Base:

Public Member Functions

 RBPF_SLAM_App_Base ()
 
Main API
void initialize (int argc, const char **argv)
 Initializes the application from CLI parameters. More...
 
void initialize (int argc, char **argv)
 
void run ()
 Runs with the current parameter set. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Public Attributes

Parameters and options. See: initialize()
mrpt::config::CConfigFileMemory params
 Populated in initialize(). More...
 
bool quits_with_esc_key = true
 If enabled (default), stdin will be watched and application quits if ESC is pressed. More...
 
Outputs and result variables
std::shared_ptr< mrpt::slam::CMetricMapBuilderRBPFmapBuilder
 
std::map< mrpt::system::TTimeStamp, mrpt::math::TPose3Dout_estimated_path
 

Protected Member Functions

virtual void impl_initialize (int argc, const char **argv)=0
 
virtual std::string impl_get_usage () const =0
 
virtual bool impl_get_next_observations (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation)=0
 Get next sensory data. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Constructor & Destructor Documentation

◆ RBPF_SLAM_App_Base()

RBPF_SLAM_App_Base::RBPF_SLAM_App_Base ( )

Definition at line 39 of file RBPF_SLAM_App.cpp.

References mrpt::system::COutputLogger::setLoggerName().

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Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ impl_get_next_observations()

virtual bool mrpt::apps::BaseAppDataSource::impl_get_next_observations ( mrpt::obs::CActionCollection::Ptr action,
mrpt::obs::CSensoryFrame::Ptr observations,
mrpt::obs::CObservation::Ptr observation 
)
protectedpure virtualinherited

Get next sensory data.

Return false on any error, true if success.

Implemented in mrpt::apps::ICP_SLAM_App_Live, and mrpt::apps::DataSourceRawlog.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), and run().

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◆ impl_get_usage()

virtual std::string mrpt::apps::BaseAppInitializableCLI::impl_get_usage ( ) const
protectedpure virtualinherited

Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.

Referenced by mrpt::apps::ICP_SLAM_App_Live::impl_initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and initialize().

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◆ impl_initialize()

virtual void mrpt::apps::BaseAppInitializableCLI::impl_initialize ( int  argc,
const char **  argv 
)
protectedpure virtualinherited

Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.

Referenced by mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and initialize().

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◆ initialize() [1/2]

void RBPF_SLAM_App_Base::initialize ( int  argc,
const char **  argv 
)

Initializes the application from CLI parameters.

Refer to the manpage of rbpf-slam. Throws on errors.

Definition at line 45 of file RBPF_SLAM_App.cpp.

References argc, argv, ASSERT_FILE_EXISTS_, mrpt::io::file_get_contents(), mrpt::apps::BaseAppInitializableCLI::impl_get_usage(), mrpt::apps::BaseAppInitializableCLI::impl_initialize(), MRPT_END, mrpt::system::MRPT_getCompilationDate(), mrpt::system::MRPT_getVersion(), MRPT_LOG_INFO_FMT, MRPT_START, params, mrpt::config::CConfigFileMemory::setContent(), and THROW_EXCEPTION_FMT.

Referenced by generic_rbpf_slam_test(), and initialize().

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◆ initialize() [2/2]

void mrpt::apps::RBPF_SLAM_App_Base::initialize ( int  argc,
char **  argv 
)
inline

Definition at line 46 of file RBPF_SLAM_App.h.

References argc, argv, and initialize().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string &  msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ run()

void RBPF_SLAM_App_Base::run ( )

Runs with the current parameter set.

Throws on errors.

Definition at line 72 of file RBPF_SLAM_App.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, ASSERTMSG_, mrpt::poses::CPose3D::asTPose(), mrpt::math::MatrixBase< Scalar, Derived >::blockCopy(), mrpt::maps::CMultiMetricMap::countMapsByClass(), mrpt::poses::CPosePDFGaussian::cov, mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CCamera::Create(), mrpt::opengl::CSetOfLines::Create(), mrpt::system::createDirectory(), mrpt::DEG2RAD(), mrpt::system::deleteFilesInDirectory(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedCells, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::format(), mrpt::system::os::fprintf(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::system::os::getch(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::system::getMemoryUsage(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::random::getRandomGenerator(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::I, mrpt::apps::BaseAppDataSource::impl_get_next_observations(), IS_CLASS, mrpt::system::os::kbhit(), mrpt::config::CConfigFileBase::keyExists(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), mrpt::system::LVL_INFO, mapBuilder, mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::maps::CRBPFParticleData::mapTillNow, mrpt::poses::CPosePDFGaussian::mean, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_I, MRPT_END, MRPT_LOAD_CONFIG_VAR_CS, MRPT_LOG_DEBUG, MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, MRPT_START, out_estimated_path, params, mrpt::math::TPose2D::phi, mrpt::poses::CPose2D::phi(), mrpt::poses::CPose3D::pitch(), mrpt::io::CStream::printf(), quits_with_esc_key, mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_string(), mrpt::poses::CPose3D::roll(), mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile(), mrpt::img::CImage::saveToFile(), mrpt::poses::CPose3DPDFParticles::saveToTextFile(), sect, mrpt::system::COutputLogger::setMinLoggingLevel(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::poses::CPose3DPDFParticles::size(), mrpt::system::os::sprintf(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::Clock::toDouble(), mrpt::math::TPose2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPose2D::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

Referenced by generic_rbpf_slam_test().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ mapBuilder

std::shared_ptr<mrpt::slam::CMetricMapBuilderRBPF> mrpt::apps::RBPF_SLAM_App_Base::mapBuilder

Definition at line 72 of file RBPF_SLAM_App.h.

Referenced by run().

◆ out_estimated_path

std::map<mrpt::system::TTimeStamp, mrpt::math::TPose3D> mrpt::apps::RBPF_SLAM_App_Base::out_estimated_path

Definition at line 74 of file RBPF_SLAM_App.h.

Referenced by run().

◆ params

mrpt::config::CConfigFileMemory mrpt::apps::RBPF_SLAM_App_Base::params

Populated in initialize().

Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

Definition at line 62 of file RBPF_SLAM_App.h.

Referenced by generic_rbpf_slam_test(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), initialize(), and run().

◆ quits_with_esc_key

bool mrpt::apps::RBPF_SLAM_App_Base::quits_with_esc_key = true

If enabled (default), stdin will be watched and application quits if ESC is pressed.

Definition at line 66 of file RBPF_SLAM_App.h.

Referenced by run().




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