MRPT  1.9.9
List of all members | Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Static Protected Attributes
mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T > Class Template Reference

Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >

ICP-based Fixed Intervals Node Registration.

Current Decider is meant for adding nodes in 2D datasets recorded using a laser range finder or RGB-D camera (e.g. Kinect). No odometry data from encoders is needed. Using ICP to match consecutive RangeScan measurements, the decider keeps track of the pose transformation since the last registered node. If the norm or the angle of the latter surpasses certain thresholds (which are read from an external .ini file) then a new node is added to the graph)

See also
loadParams, TParams::loadFromConfigFile

Decider does not guarantee thread safety when accessing the GRAPH_T resource. This is handled by the CGraphSlamEngine class.

The configuration parameters of the current 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).
Note
Since the decider inherits from the CRangeScanOps class, it parses the configuration parameters of the latter as well from the "ICP" section. Refer to the CRangeScanOps documentation for its list of configuration parameters
Class contains an instance of the TSlidingWindow class and it parses the configuration parameters of the latter from the "NodeRegistrationDeciderParameters" section. Refer to TSlidingWindow documentation for its list of configuration parameters

Definition at line 84 of file CICPCriteriaNRD.h.

#include <mrpt/graphslam/NRD/CICPCriteriaNRD.h>

Inheritance diagram for mrpt::graphslam::deciders::CICPCriteriaNRD< 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 global_pose_t = typename GRAPH_T::global_pose_t
 
using InfMat = mrpt::math::CMatrixFixed< double, constraint_t::state_length, constraint_t::state_length >
 
using range_ops_t = mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >
 Typedef for accessing methods of the RangeScanRegistrationDecider parent class. More...
 
using decider_t = CICPCriteriaNRD< GRAPH_T >
 self type More...
 
using parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
 Node Registration Decider. More...
 
using inf_mat_t = mrpt::math::CMatrixFixed< double, constraint_t::state_length, constraint_t::state_length >
 

Public Member Functions

 CICPCriteriaNRD ()
 
 ~CICPCriteriaNRD () override=default
 
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...
 
bool updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override
 Update the decider state using the latest dataset measurements. More...
 
bool updateState2D (mrpt::obs::CObservation2DRangeScan::Ptr observation)
 Specialized updateState method used solely when dealing with 2DRangeScan information. More...
 
bool updateState3D (mrpt::obs::CObservation3DRangeScan::Ptr observation)
 Specialized updateState method used solely when dealing with 3DRangeScan information. More...
 
virtual global_pose_t getCurrentRobotPosEstimation () const
 Getter method for fetching the currently estimated robot position. 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 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

bool checkRegistrationCondition () override
 Check whether a new node should be registered in the graph. More...
 
bool checkRegistrationCondition2D ()
 Specialized checkRegistrationCondtion method used solely when dealing with 2DRangeScan information. More...
 
bool checkRegistrationCondition3D ()
 Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information. More...
 
void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
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...
 
bool registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
 Utility methods for adding new poses to the graph. More...
 
bool registerNewNodeAtEnd ()
 Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...
 
virtual void addNodeAnnotsToPose (global_pose_t *pose) const
 Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...
 

Protected Attributes

bool m_is_using_3DScan
 
constraint_t m_latest_odometry_PDF
 Odometry rigid-body transformation since the last accepted LaserScan. More...
 
pose_t m_curr_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
pose_t m_last_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
TSlidingWindow m_mahal_distance_ICP_odom
 Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements. More...
 
bool m_use_angle_difference_node_reg
 
bool m_use_distance_node_reg
 
int m_times_used_ICP
 How many times we used the ICP Edge instead of Odometry edge. More...
 
int m_times_used_odom
 How many times we used the Odometry Edge instead of the ICP edge. More...
 
mrpt::graphs::TNodeID m_prev_registered_nodeID
 Store the last registered NodeID. More...
 
constraint_t m_since_prev_node_PDF
 Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...
 
inf_mat_t m_init_inf_mat
 Initial information matrix for paths. 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...
 
mrpt::obs::CObservation2DRangeScan::Ptr m_last_laser_scan2D
 handy laser scans to use in the class methods More...
 
mrpt::obs::CObservation2DRangeScan::Ptr m_curr_laser_scan2D
 Current LaserScan. More...
 
mrpt::obs::CObservation3DRangeScan::Ptr m_last_laser_scan3D
 
mrpt::obs::CObservation3DRangeScan::Ptr m_curr_laser_scan3D
 
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 >
using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 93 of file CICPCriteriaNRD.h.

◆ decider_t

template<class GRAPH_T >
using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::decider_t = CICPCriteriaNRD<GRAPH_T>

self type

Definition at line 104 of file CICPCriteriaNRD.h.

◆ global_pose_t

template<class GRAPH_T >
using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::global_pose_t = typename GRAPH_T::global_pose_t

Definition at line 96 of file CICPCriteriaNRD.h.

◆ inf_mat_t

template<class GRAPH_T>
using mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::inf_mat_t = mrpt::math::CMatrixFixed< double, constraint_t::state_length, constraint_t::state_length>
inherited

Definition at line 46 of file CNodeRegistrationDecider.h.

◆ InfMat

template<class GRAPH_T >
using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::InfMat = mrpt::math::CMatrixFixed< double, constraint_t::state_length, constraint_t::state_length>

Definition at line 99 of file CICPCriteriaNRD.h.

◆ parent_t

Node Registration Decider.

Definition at line 107 of file CICPCriteriaNRD.h.

◆ pose_t

template<class GRAPH_T >
using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value

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

Definition at line 95 of file CICPCriteriaNRD.h.

◆ range_ops_t

Typedef for accessing methods of the RangeScanRegistrationDecider parent class.

Definition at line 103 of file CICPCriteriaNRD.h.

Constructor & Destructor Documentation

◆ CICPCriteriaNRD()

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

◆ ~CICPCriteriaNRD()

template<class GRAPH_T >
mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::~CICPCriteriaNRD ( )
overridedefault

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >
void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t pose) const
protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note
Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 140 of file CNodeRegistrationDecider_impl.h.

◆ 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()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition ( )
overrideprotectedvirtual

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

This should be the key-method in any implementation of this interface. Should call registerNewNodeAtEnd method if the registration condition is satisfied.

Returns
True upon successful node registration in the graph

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

Definition at line 237 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg, MRPT_END, MRPT_LOG_DEBUG, MRPT_START, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::params, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::registration_max_angle, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams::registration_max_distance, and mrpt::math::wrapToPi().

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ checkRegistrationCondition2D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D ( )
protected

Specialized checkRegistrationCondtion method used solely when dealing with 2DRangeScan information.

See also
checkRegistrationCondition3D

Definition at line 141 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::getICPEdge(), mrpt::slam::CICP::TReturnInfo::goodness, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan2D, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_ICP, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_odom, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, and mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::resetPDF().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ checkRegistrationCondition3D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition3D ( )
protected

Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information.

See also
checkRegistrationCondition2D

Definition at line 230 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

◆ 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 142 of file CRangeScanOps_impl.h.

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

Here is the call graph for this function:

◆ 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 109 of file CRangeScanOps_impl.h.

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

Here is the call graph for this function:

◆ 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.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >
GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const
virtualinherited

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position

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

Definition at line 147 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaNRD< 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::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 301 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getDescriptiveReport(), mrpt::system::COutputLogger::getLogAsString(), mrpt::system::CTimeLogger::getStatsAsText(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep.

Here is the call graph for this function:

◆ 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::maps::CMetricMap::insertObservation(), MRPT_END, MRPT_START, and params.

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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 51 of file CRangeScanOps_impl.h.

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

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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

◆ 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().

Here is the caller graph for this function:

◆ 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 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().

Here is the caller graph for this function:

◆ isMultiRobotSlamClass()

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

Definition at line 123 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaNRD< 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 273 of file CICPCriteriaNRD_impl.h.

References mrpt::config::CLoadableOptions::loadFromConfigFileName(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams(), MRPT_END, MRPT_LOG_DEBUG, MRPT_START, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::params, mrpt::config::CConfigFileBase::read_int(), and mrpt::system::COutputLogger::setMinLoggingLevel().

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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::deciders::CICPCriteriaNRD< 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 294 of file CICPCriteriaNRD_impl.h.

References mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::params, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams().

Here is the call graph for this function:

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protectedinherited

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters
[in]constraintConstraint transformation from the latest registered to the new node.
Returns
True upon successful node registration.

Definition at line 50 of file CNodeRegistrationDecider_impl.h.

◆ registerNewNodeAtEnd() [2/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )
protectedinherited

Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end.

Definition at line 116 of file CNodeRegistrationDecider_impl.h.

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

Here is the caller graph for this function:

◆ resetPDF()

template<class GRAPH_T >
void CNodeRegistrationDecider::resetPDF ( constraint_t c)
protectedinherited

Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix.

Definition at line 127 of file CNodeRegistrationDecider_impl.h.

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

Here is the caller graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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.

◆ updateState()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState ( mrpt::obs::CActionCollection::Ptr  action,
mrpt::obs::CSensoryFrame::Ptr  observations,
mrpt::obs::CObservation::Ptr  observation 
)
overridevirtual

Update the decider state using the latest dataset measurements.

Note
Depending on the observations at hand, update of the state is handled either by updateState2D, or by updateState3D methods. This helps in separating the 2D, 3D RangeScans handling altogether, which in turn simplifies the overall procedure

Order of calls: updateState (calls) ==> updateState2D/3D ==> checkRegistrationCondition2D/3D ==> CheckRegistrationCondition

See also
updateState2D, updateState3D

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

Definition at line 38 of file CICPCriteriaNRD_impl.h.

References mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::system::CTimeLogger::enter(), IS_CLASS, mrpt::system::CTimeLogger::leave(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D().

Here is the call graph for this function:

◆ updateState2D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D ( mrpt::obs::CObservation2DRangeScan::Ptr  observation)

Specialized updateState method used solely when dealing with 2DRangeScan information.

See also
updateState3D

Definition at line 118 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan2D, MRPT_END, and MRPT_START.

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

Here is the call graph for this function:
Here is the caller graph for this function:

◆ updateState3D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D ( mrpt::obs::CObservation3DRangeScan::Ptr  observation)

Specialized updateState method used solely when dealing with 3DRangeScan information.

See also
updateState2D

Definition at line 222 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

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

Here is the caller graph for this function:

◆ 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 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_curr_laser_scan2D

template<class GRAPH_T >
mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D
protected

Current LaserScan.

Set during the new measurements acquisition in updateState method

Definition at line 189 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_curr_laser_scan3D

template<class GRAPH_T >
mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan3D
protected

Definition at line 192 of file CICPCriteriaNRD.h.

◆ m_curr_odometry_only_pose

template<class GRAPH_T >
pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose
protected

pose_t estimation using only odometry information.

Note
Utilized only in observation-only rawlogs.

Definition at line 206 of file CICPCriteriaNRD.h.

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

◆ 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_init_inf_mat

template<class GRAPH_T>
inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat
protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 116 of file CNodeRegistrationDecider.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 >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_is_using_3DScan
protected

◆ m_last_laser_scan2D

template<class GRAPH_T >
mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan2D
protected

handy laser scans to use in the class methods

2D LaserScan corresponding to the latest registered node in the graph

Definition at line 185 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_last_laser_scan3D

template<class GRAPH_T >
mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan3D
protected

Definition at line 191 of file CICPCriteriaNRD.h.

◆ m_last_odometry_only_pose

template<class GRAPH_T >
pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose
protected

pose_t estimation using only odometry information.

Note
Utilized only in observation-only rawlogs.

Resets next time an ICP edge/Odometry measurement is utilized for updating the estimated robot position.

Definition at line 213 of file CICPCriteriaNRD.h.

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

◆ m_latest_odometry_PDF

template<class GRAPH_T >
constraint_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF
protected

Odometry rigid-body transformation since the last accepted LaserScan.

Decider can use it to smoothen the trajectory in the case of high noise in the laser measurements

Definition at line 201 of file CICPCriteriaNRD.h.

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

◆ m_mahal_distance_ICP_odom

template<class GRAPH_T >
TSlidingWindow mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_mahal_distance_ICP_odom
protected

Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements.

Use the last odometry rigid body transformation instead of the ICP edge if the mahalanobis distance between them is greater than this limit.

Definition at line 221 of file CICPCriteriaNRD.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().

◆ m_prev_registered_nodeID

template<class GRAPH_T>
mrpt::graphs::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID
protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 106 of file CNodeRegistrationDecider.h.

◆ m_since_prev_node_PDF

template<class GRAPH_T>
constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF
protectedinherited

Tracking the PDF of the current position of the robot with regards to the <b previous registered node.

Definition at line 110 of file CNodeRegistrationDecider.h.

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

◆ m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::system::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger
protectedinherited

◆ m_times_used_ICP

template<class GRAPH_T >
int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_ICP
protected

◆ m_times_used_odom

template<class GRAPH_T >
int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_odom
protected

How many times we used the Odometry Edge instead of the ICP edge.

Definition at line 230 of file CICPCriteriaNRD.h.

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

◆ m_use_angle_difference_node_reg

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg
protected

◆ m_use_distance_node_reg

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg
protected

◆ 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 >
TParams mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::params

◆ 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().




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: d8fdc6279 Wed Feb 26 00:43:17 2020 +0100 at miƩ feb 26 00:45:09 CET 2020