MRPT  2.0.1
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mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T > Class Template Reference

Detailed Description

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

ICP-based Edge Registration.

Register new edges in the graph with the last inserted node. Criterion for adding new edges should be the goodness of the candidate ICP edge. The nodes for ICP are picked based on the distance from the last inserted node.

See also
getNearbyNodesOf
The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

Definition at line 93 of file CICPCriteriaERD.h.

#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>

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

Classes

struct  TParams
 

Public Types

using constraint_t = typename GRAPH_T::constraint_t
 Handy typedefs. More...
 
using pose_t = typename GRAPH_T::constraint_t::type_value
 type of underlying poses (2D/3D). More...
 
using parent_t = CRangeScanEdgeRegistrationDecider< GRAPH_T >
 
using range_ops_t = typename parent_t::range_ops_t
 
using decider_t = CICPCriteriaERD< GRAPH_T >
 self type - Handy type More...
 
using nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t
 
using parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
 Handy typedefs. More...
 

Public Member Functions

 CICPCriteriaERD ()
 
 ~CICPCriteriaERD () override=default
 
bool updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override
 Generic method for fetching the incremental action-observations (or observation-only) measurements. More...
 
void notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred) override
 Get a list of the window events that happened since the last call. More...
 
void getEdgesStats (std::map< std::string, int > *edge_types_to_num) const override
 Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More...
 
void initializeVisuals () override
 Initialize visual objects in CDisplayWindow (e.g. More...
 
void updateVisuals () override
 Update the relevant visual features in CDisplayWindow. More...
 
void loadParams (const std::string &source_fname) override
 Load the necessary for the decider/optimizer configuration parameters. More...
 
void printParams () const override
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. 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 justInsertedLoopClosure () const
 Used by the caller to query for possible loop closures in the last edge registration procedure. 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 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...
 

Public Attributes

TParams params
 

Protected Member Functions

void checkRegistrationCondition2D (const std::set< mrpt::graphs::TNodeID > &nodes_set)
 
void checkRegistrationCondition3D (const std::set< mrpt::graphs::TNodeID > &nodes_set)
 
void registerNewEdge (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge) override
 Register a new constraint/edge in the current graph. More...
 
void checkIfInvalidDataset (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
 
void getNearbyNodesOf (std::set< mrpt::graphs::TNodeID > *nodes_set, const mrpt::graphs::TNodeID &cur_nodeID, double distance)
 Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID. More...
 
void toggleLaserScansVisualization ()
 togle the LaserScans visualization on and off More...
 
void dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500)
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
void getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr)
 Align the 2D range scans provided and fill the potential edge that can transform the one into the other. More...
 
void getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr)
 Align the 3D range scans provided and find the potential edge that can transform the one into the other. More...
 
void decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0)
 Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points. More...
 
bool convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out)
 Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. 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

mrpt::img::TColor m_search_disk_color
 see Constructor for initialization More...
 
mrpt::img::TColor m_laser_scans_color
 see Constructor for initialization More...
 
double m_offset_y_search_disk
 
int m_text_index_search_disk
 
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptrm_nodes_to_laser_scans2D
 
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptrm_nodes_to_laser_scans3D
 
std::map< std::string, int > m_edge_types_to_nums
 
bool m_is_using_3DScan {false}
 
mrpt::obs::CObservation2DRangeScan::Ptr m_last_laser_scan2D
 
mrpt::obs::CObservation3DRangeScan::Ptr m_last_laser_scan3D
 
mrpt::obs::CObservation2DRangeScan::Ptr m_fake_laser_scan2D
 
size_t m_last_total_num_nodes = 0
 Keep track of the total number of registered nodes since the last time class method was called. More...
 
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

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)
 

Member Typedef Documentation

◆ constraint_t

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

Handy typedefs.

type of graph constraints

Definition at line 101 of file CICPCriteriaERD.h.

◆ decider_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::decider_t = CICPCriteriaERD<GRAPH_T>

self type - Handy type

Definition at line 107 of file CICPCriteriaERD.h.

◆ nodes_to_scans2D_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t

Definition at line 108 of file CICPCriteriaERD.h.

◆ parent

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

Handy typedefs.

Parent of current class

Definition at line 43 of file CEdgeRegistrationDecider.h.

◆ parent_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T>

Definition at line 104 of file CICPCriteriaERD.h.

◆ pose_t

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

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

Definition at line 103 of file CICPCriteriaERD.h.

◆ range_ops_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::range_ops_t = typename parent_t::range_ops_t

Definition at line 105 of file CICPCriteriaERD.h.

Constructor & Destructor Documentation

◆ CICPCriteriaERD()

template<class GRAPH_T >
mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD ( )

◆ ~CICPCriteriaERD()

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

◆ checkIfInvalidDataset()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkIfInvalidDataset ( mrpt::obs::CActionCollection::Ptr  action,
mrpt::obs::CSensoryFrame::Ptr  observations,
mrpt::obs::CObservation::Ptr  observation 
)
protected

◆ 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 
)
inlineprotectedvirtualinherited

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 > &  )
inlineprotectedvirtualinherited

Definition at line 76 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition2D()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D ( const std::set< mrpt::graphs::TNodeID > &  nodes_set)
protected

Definition at line 156 of file CICPCriteriaERD_impl.h.

References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, and params.

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◆ checkRegistrationCondition3D()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D ( const std::set< mrpt::graphs::TNodeID > &  nodes_set)
protected

Definition at line 237 of file CICPCriteriaERD_impl.h.

References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, MRPT_START, and params.

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◆ convert3DTo2DRangeScan()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan ( mrpt::obs::CObservation3DRangeScan::Ptr scan3D_in,
mrpt::obs::CObservation2DRangeScan::Ptr scan2D_out 
)
protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns
True if operation was successful, false otherwise

Definition at line 133 of file CRangeScanOps_impl.h.

References mrpt::obs::CObservation2DRangeScan::Create(), MRPT_END, MRPT_START, and params.

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◆ decimatePointsMap()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap ( mrpt::maps::CPointsMap m,
size_t  keep_point_every = 4,
size_t  low_lim = 0 
)
protectedinherited

Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.

Note
If low_lim is set then the PointsMap will contain at least low_lim measurements, regardless of keep_point_every value. Set low_lim to 0 if no lower limit is to be specified

Definition at line 100 of file CRangeScanOps_impl.h.

References mrpt::maps::CPointsMap::applyDeletionMask(), MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::size().

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◆ 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.

◆ dumpVisibilityErrorMsg()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::dumpVisibilityErrorMsg ( std::string  viz_flag,
int  sleep_time = 500 
)
protected

Definition at line 533 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_LOG_ERROR_FMT, and MRPT_START.

◆ 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::CICPCriteriaERD< 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 578 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ getEdgesStats()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num) const
overridevirtual

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

Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.

Definition at line 386 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ getICPEdge() [1/2]

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge ( const mrpt::obs::CObservation2DRangeScan from,
const mrpt::obs::CObservation2DRangeScan to,
constraint_t rel_edge,
const mrpt::poses::CPose2D initial_pose = nullptr,
mrpt::slam::CICP::TReturnInfo icp_info = nullptr 
)
protectedinherited

Align the 2D range scans provided and fill the potential edge that can transform the one into the other.

User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 16 of file CRangeScanOps_impl.h.

References MRPT_END, MRPT_START, and params.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

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◆ getICPEdge() [2/2]

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge ( const mrpt::obs::CObservation3DRangeScan from,
const mrpt::obs::CObservation3DRangeScan to,
constraint_t rel_edge,
const mrpt::poses::CPose2D initial_pose = nullptr,
mrpt::slam::CICP::TReturnInfo icp_info = nullptr 
)
protectedinherited

Align the 3D range scans provided and find the potential edge that can transform the one into the other.

Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 50 of file CRangeScanOps_impl.h.

References ASSERTDEBMSG_, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, MRPT_START, and params.

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◆ 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

◆ getNearbyNodesOf()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf ( std::set< mrpt::graphs::TNodeID > *  nodes_set,
const mrpt::graphs::TNodeID cur_nodeID,
double  distance 
)
protected

Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID.

Definition at line 311 of file CICPCriteriaERD_impl.h.

References mrpt::math::distance(), MRPT_END, and MRPT_START.

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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::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals ( )
overridevirtual

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 from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 397 of file CICPCriteriaERD_impl.h.

References ASSERTDEBMSG_, mrpt::opengl::CPlanarLaserScan::Create(), mrpt::system::LVL_DEBUG, MRPT_END, MRPT_START, and params.

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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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◆ 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
inlinevirtualinherited

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::deciders::CICPCriteriaERD< GRAPH_T >::loadParams ( const std::string &  source_fname)
overridevirtual

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 550 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_LOG_DEBUG, MRPT_START, params, mrpt::config::CConfigFileBase::read_int(), and setMinLoggingLevel().

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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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◆ notifyOfWindowEvents()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > &  events_occurred)
overridevirtual

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 from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 340 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_START, and params.

◆ printParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams ( ) const
overridevirtual

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

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 568 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_START, and params.

◆ registerNewEdge()

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

Register a new constraint/edge in the current graph.

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

Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.

Definition at line 301 of file CICPCriteriaERD_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

◆ 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(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ 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.

◆ toggleLaserScansVisualization()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization ( )
protected

togle the LaserScans visualization on and off

Definition at line 356 of file CICPCriteriaERD_impl.h.

References ASSERTDEBMSG_, mrpt::system::LVL_INFO, MRPT_END, MRPT_START, and params.

◆ updateState()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState ( mrpt::obs::CActionCollection::Ptr  action,
mrpt::obs::CSensoryFrame::Ptr  observations,
mrpt::obs::CObservation::Ptr  observation 
)
overridevirtual

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

Implements mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 46 of file CICPCriteriaERD_impl.h.

References mrpt::format(), IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, and params.

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◆ updateVisuals()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals ( )
overridevirtual

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 from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 466 of file CICPCriteriaERD_impl.h.

References mrpt::DEG2RAD(), MRPT_END, MRPT_START, and params.

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◆ 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

◆ 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 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_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_edge_types_to_nums

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::map<std::string, int> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums
protected

◆ m_fake_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_fake_laser_scan2D
protected

Definition at line 210 of file CICPCriteriaERD.h.

◆ 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_is_using_3DScan

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_is_using_3DScan {false}
protected

Definition at line 204 of file CICPCriteriaERD.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
protectedinherited

◆ m_laser_scans_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_laser_scans_color
protected

see Constructor for initialization

Definition at line 195 of file CICPCriteriaERD.h.

◆ m_last_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan2D
protected

Definition at line 206 of file CICPCriteriaERD.h.

◆ m_last_laser_scan3D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan3D
protected

Definition at line 207 of file CICPCriteriaERD.h.

◆ m_last_total_num_nodes

template<class GRAPH_T >
size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes = 0
protectedinherited

Keep track of the total number of registered nodes since the last time class method was called.

Definition at line 56 of file CRangeScanEdgeRegistrationDecider.h.

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

◆ 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().

◆ m_nodes_to_laser_scans2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans2D
protected

Definition at line 200 of file CICPCriteriaERD.h.

◆ m_nodes_to_laser_scans3D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans3D
protected

Definition at line 202 of file CICPCriteriaERD.h.

◆ m_offset_y_search_disk

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_offset_y_search_disk
protected

Definition at line 196 of file CICPCriteriaERD.h.

◆ 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
protectedinherited

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_search_disk_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_search_disk_color
protected

see Constructor for initialization

Definition at line 193 of file CICPCriteriaERD.h.

◆ m_text_index_search_disk

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_text_index_search_disk
protected

Definition at line 197 of file CICPCriteriaERD.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.

◆ params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TParams mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::params

Definition at line 161 of file CICPCriteriaERD.h.

◆ report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep
staticprotectedinherited
Initial value:
=
std::string(2, '\n')

Definition at line 172 of file CRegistrationDeciderOrOptimizer.h.

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




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