MRPT  1.9.9
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T > Class Template Referenceabstract

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >

Interface for implementing edge registration classes.

CEdgeRegistrationDecider provides the basic methods that have to exist in every edge registration decider class. For an example of inheriting from this class see CICPCriteriaERD.

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

Definition at line 36 of file CEdgeRegistrationDecider.h.

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

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

Public Types

using parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
 Handy typedefs. More...
 
using constraint_t = typename GRAPH_T::constraint_t
 type of graph constraints More...
 
using pose_t = typename GRAPH_T::constraint_t::type_value
 type of underlying poses (2D/3D). More...
 

Public Member Functions

 CEdgeRegistrationDecider ()=default
 
 ~CEdgeRegistrationDecider () override=default
 
virtual void getEdgesStats (std::map< std::string, int > *edge_type_to_num) const
 Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More...
 
virtual bool justInsertedLoopClosure () const
 Used by the caller to query for possible loop closures in the last edge registration procedure. More...
 
void getDescriptiveReport (std::string *report_str) const override
 Fill the provided string with a detailed report of the decider/optimizer state. 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) measurements. 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
 

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...
 

Protected Member Functions

virtual void registerNewEdge (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
 Register a new constraint/edge in the current graph. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
Registration criteria checks

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

If condition(s) for edge registration is satisfied, method should call the registerNewEdge method.

virtual void checkRegistrationCondition (mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to)
 
virtual void checkRegistrationCondition (const std::set< mrpt::graphs::TNodeID > &)
 

Protected Attributes

bool m_just_inserted_lc = false
 
bool m_override_registered_nodes_check = false
 Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method. More...
 
GRAPH_T * m_graph = nullptr
 Pointer to the graph that is under construction. More...
 
std::mutex * m_graph_section = nullptr
 
mrpt::system::CTimeLogger m_time_logger
 Time logger instance. More...
 
std::string m_class_name = "CRegistrationDeciderOrOptimizer"
 Name of the class instance. More...
 
bool is_mr_slam_class = false
 Boolean indicating if the current class can be used in multi-robot SLAM operations. More...
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
Visuals-related variables methods
mrpt::graphslam::CWindowManagerm_win_manager = nullptr
 Pointer to the CWindowManager object used to store visuals-related instances. More...
 
mrpt::gui::CDisplayWindow3Dm_win = nullptr
 Window to use. More...
 
mrpt::graphslam::CWindowObserverm_win_observer = nullptr
 CWindowObserver object for monitoring various visual-oriented events. More...
 
bool m_initialized_visuals = false
 

Static Protected Attributes

static const std::string header_sep
 Separator string to be used in debugging messages. More...
 
static const std::string report_sep
 

Logging methods

void logStr (const VerbosityLevel level, const std::string &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)
 
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...
 

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

type of graph constraints

Definition at line 45 of file CEdgeRegistrationDecider.h.

◆ parent

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>

Handy typedefs.

Parent of current class

Definition at line 43 of file CEdgeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value

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

Definition at line 47 of file CEdgeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CEdgeRegistrationDecider()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::CEdgeRegistrationDecider ( )
default

◆ ~CEdgeRegistrationDecider()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::~CEdgeRegistrationDecider ( )
overridedefault

Member Function Documentation

◆ 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 74 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition() [1/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( mrpt::graphs::TNodeID  from,
mrpt::graphs::TNodeID  to 
)
inlineprotectedvirtual

Definition at line 72 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition() [2/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( const std::set< mrpt::graphs::TNodeID > &  )
inlineprotectedvirtual

Definition at line 76 of file CEdgeRegistrationDecider.h.

◆ 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.

◆ getClassName()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const
inlineinherited

Definition at line 134 of file CRegistrationDeciderOrOptimizer.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getDescriptiveReport ( std::string report_str) const
overridevirtual

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 >.

Definition at line 15 of file CEdgeRegistrationDecider_impl.h.

◆ getEdgesStats()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num) const
inlinevirtual

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

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

Definition at line 55 of file CEdgeRegistrationDecider.h.

◆ 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 200 of file system/COutputLogger.h.

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

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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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 22 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 67 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ isLoggingLevelVisible()

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

Definition at line 201 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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◆ isMultiRobotSlamClass()

template<class GRAPH_T >
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )
inherited

Definition at line 123 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justInsertedLoopClosure()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::justInsertedLoopClosure ( ) const
inlinevirtual

Used by the caller to query for possible loop closures in the last edge registration procedure.

Definition at line 60 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams ( const std::string source_fname)
virtualinherited

◆ 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,
const std::string 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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◆ 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 88 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ printParams()

template<class GRAPH_T >
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.

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.

Definition at line 102 of file CRegistrationDeciderOrOptimizer_impl.h.

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

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◆ registerNewEdge()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::registerNewEdge ( const mrpt::graphs::TNodeID from,
const mrpt::graphs::TNodeID to,
const constraint_t rel_edge 
)
protectedvirtual

Register a new constraint/edge in the current graph.

Implementations of this class should provide a wrapper around GRAPH_T::insertEdge method.

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

Definition at line 26 of file CEdgeRegistrationDecider_impl.h.

◆ setClassName()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string name)
virtualinherited

Definition at line 35 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 58 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 116 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setLoggerName()

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

Set the name of the COutputLogger instance.

See also
getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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◆ 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(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ 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 44 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< 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) measurements.

Returns
True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

Implemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >, mrpt::graphslam::optimizers::CEmptyGSO< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< 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 82 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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().

Here is the call graph for this function:

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 171 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< 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 = false
protectedinherited

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

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

◆ 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 239 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 242 of file system/COutputLogger.h.

◆ m_class_name

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name = "CRegistrationDeciderOrOptimizer"
protectedinherited

Name of the class instance.

Definition at line 163 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 = nullptr
protectedinherited

Pointer to the graph that is under construction.

Definition at line 142 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 = nullptr
protectedinherited

Definition at line 143 of file CRegistrationDeciderOrOptimizer.h.

◆ m_initialized_visuals

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals = false
protectedinherited

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

◆ m_just_inserted_lc

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc = false
protected

◆ 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 252 of file system/COutputLogger.h.

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

◆ m_override_registered_nodes_check

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_override_registered_nodes_check = false
protected

Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method.

Definition at line 95 of file CEdgeRegistrationDecider.h.

◆ m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::system::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 = nullptr
protectedinherited

Window to use.

Definition at line 153 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_manager

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

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

Definition at line 151 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_observer

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

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 156 of file CRegistrationDeciderOrOptimizer.h.

◆ 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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