MRPT  1.9.9
mrpt::hmtslam::CHMTSLAM Class Reference

Detailed Description

An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).

The main entry points for a user are pushAction() and pushObservations(). Several parameters can be modified through m_options.

The mathematical models of this approach have been reported in:

  • Blanco J.L., Fernandez-Madrigal J.A., and Gonzalez J., "Towards a Unified Bayesian Approach to Hybrid Metric-Topological SLAM", in IEEE Transactions on Robotics (TRO), Vol. 24, No. 2, April 2008.
  • ...

More information in the wiki page: https://www.mrpt.org/HMT-SLAM . A complete working application can be found in "MRPT/apps/hmt-slam".

The complete state of the SLAM framework is serializable, so it can be saved and restore to/from a binary dump. This class implements mrpt::serialization::CSerializable, so it can be saved with "stream << slam_object;" and restored with "stream >> slam_object;". Alternatively, the methods CHMTSLAM::saveState and CHMTSLAM::loadState can be invoked, which in turn call internally to the CSerializable interface.

See also
CHierarchicalMHMap

Definition at line 67 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM:

Classes

struct  TMessageLSLAMfromAA
 Message definition: More...
 
struct  TMessageLSLAMfromTBI
 Message definition: More...
 
struct  TMessageLSLAMtoTBI
 Message definition: More...
 
struct  TOptions
 A variety of options and configuration params (private, use loadOptions). More...
 

Public Member Functions

 CHMTSLAM ()
 Default constructor. More...
 
 CHMTSLAM (const CHMTSLAM &)
 
const CHMTSLAMoperator= (const CHMTSLAM &)
 
 ~CHMTSLAM () override
 Destructor. More...
 
bool abortedDueToErrors ()
 Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on. More...
 
void generateLogFiles (unsigned int nIteration)
 Called from LSLAM thread when log files must be created. More...
 
void getAs3DScene (mrpt::opengl::COpenGLScene &outScene)
 Gets a 3D representation of the current state of the whole mapping framework. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
High-level map management
void loadOptions (const std::string &configFile)
 Loads the options from a config file. More...
 
void loadOptions (const mrpt::config::CConfigFileBase &cfgSource)
 Loads the options from a config source. More...
 
void initializeEmptyMap ()
 Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions. More...
 
bool saveState (mrpt::serialization::CArchive &out) const
 Save the state of the whole HMT-SLAM framework to some binary stream (e.g. More...
 
bool loadState (mrpt::serialization::CArchive &in)
 Load the state of the whole HMT-SLAM framework from some binary stream (e.g. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

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

Public Attributes

The important data.
CHierarchicalMHMap m_map
 The hiearchical, multi-hypothesis graph-based map. More...
 
std::map< THypothesisID, CLocalMetricHypothesism_LMHs
 The list of LMHs at each instant. More...
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
HMT-SLAM sub-processes.
void LSLAM_process_message (const mrpt::serialization::CMessage &msg)
 Auxiliary method within thread_LSLAM. More...
 
void LSLAM_process_message_from_AA (const TMessageLSLAMfromAA &myMsg)
 No critical section locks are assumed at the entrance of this method. More...
 
void LSLAM_process_message_from_TBI (const TMessageLSLAMfromTBI &myMsg)
 No critical section locks are assumed at the entrance of this method. More...
 
void perform_TLC (CLocalMetricHypothesis &LMH, const CHMHMapNode::TNodeID areaInLMH, const CHMHMapNode::TNodeID areaLoopClosure, const mrpt::poses::CPose3DPDFGaussian &pose1wrt2)
 Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Static Protected Member Functions

static TMessageLSLAMfromAA::Ptr areaAbstraction (CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs)
 The Area Abstraction (AA) method, invoked from LSLAM. More...
 
static TMessageLSLAMfromTBI::Ptr TBI_main_method (CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID)
 The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM. More...
 
static std::string generateUniqueAreaLabel ()
 Generates a new and unique area textual label (currently this generates "0","1",...) More...
 
static TPoseID generatePoseID ()
 Generates a new and unique pose ID. More...
 
static THypothesisID generateHypothesisID ()
 Generates a new and unique hypothesis ID. More...
 

Protected Attributes

bool m_terminateThreads
 Termination flag for signaling all threads to terminate. More...
 
bool m_terminationFlag_LSLAM
 Threads termination flags: More...
 
bool m_terminationFlag_TBI
 
bool m_terminationFlag_3D_viewer
 
mrpt::hmtslam::CHMTSLAM::TOptions m_options
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
The different SLAM algorithms that can be invoked from the LSLAM

thread.

CLSLAMAlgorithmBasem_LSLAM_method
 An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState". More...
 

Static Protected Attributes

static int64_t m_nextAreaLabel = 0
 
static TPoseID m_nextPoseID = 0
 
static THypothesisID m_nextHypID = COMMON_TOPOLOG_HYP + 1
 

Friends

class CLocalMetricHypothesis
 
class CLSLAM_RBPF_2DLASER
 
class CTopLCDetector_GridMatching
 
class CTopLCDetector_FabMap
 

RTTI stuff

using Ptr = std::shared_ptr< CHMTSLAM >
 
using ConstPtr = std::shared_ptr< const CHMTSLAM >
 
using UniquePtr = std::unique_ptr< CHMTSLAM >
 
using ConstUniquePtr = std::unique_ptr< const CHMTSLAM >
 
static mrpt::rtti::CLASSINIT _init_CHMTSLAM
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CHMTSLAM"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Inter-thread communication queues:

using CMessageQueue = mrpt::containers::CThreadSafeQueue< mrpt::serialization::CMessage >
 LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA. More...
 
CMessageQueue m_LSLAM_queue
 

Related to the input queue:

enum  TLSlamMethod { lsmRBPF_2DLASER = 1 }
 
std::queue< mrpt::serialization::CSerializable::Ptrm_inputQueue
 The queue of pending actions/observations supplied by the user waiting for being processed. More...
 
std::mutex m_inputQueue_cs
 Critical section for accessing m_inputQueue. More...
 
std::mutex m_map_cs
 Critical section for accessing m_map. More...
 
std::mutex m_LMHs_cs
 Critical section for accessing m_LMHs. More...
 
void clearInputQueue ()
 Empty the input queue. More...
 
bool isInputQueueEmpty ()
 Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More...
 
size_t inputQueueSize ()
 Returns the number of objects waiting for processing in the input queue. More...
 
void pushAction (const mrpt::obs::CActionCollection::Ptr &acts)
 Here the user can enter an action into the system (will go to the SLAM process). More...
 
void pushObservations (const mrpt::obs::CSensoryFrame::Ptr &sf)
 Here the user can enter observations into the system (will go to the SLAM process). More...
 
void pushObservation (const mrpt::obs::CObservation::Ptr &obs)
 Here the user can enter an observation into the system (will go to the SLAM process). More...
 
mrpt::serialization::CSerializable::Ptr getNextObjectFromInputQueue ()
 Used from the LSLAM thread to retrieve the next object from the queue. More...
 

Threads stuff

std::thread m_hThread_LSLAM
 Threads handles. More...
 
std::thread m_hThread_TBI
 
std::thread m_hThread_3D_viewer
 
void thread_LSLAM ()
 The function for the "Local SLAM" thread. More...
 
void thread_TBI ()
 The function for the "TBI" thread. More...
 
void thread_3D_viewer ()
 The function for the "3D viewer" thread. More...
 

The different Loop-Closure modules that are to be executed in the

TBI thread.

using TLopLCDetectorFactory = CTopLCDetectorBase *(*)(CHMTSLAM *)
 
std::map< std::string, TLopLCDetectorFactorym_registeredLCDetectors
 
std::deque< CTopLCDetectorBase * > m_topLCdets
 The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState". More...
 
std::mutex m_topLCdets_cs
 The critical section for accessing m_topLCdets. More...
 
void registerLoopClosureDetector (const std::string &name, CTopLCDetectorBase *(*ptrCreateObject)(CHMTSLAM *))
 Must be invoked before calling initializeEmptyMap, so LC objects can be created. More...
 
CTopLCDetectorBaseloopClosureDetector_factory (const std::string &name)
 The class factory for topological loop closure detectors. More...
 

Logging methods

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

Member Typedef Documentation

◆ CMessageQueue

LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.

Definition at line 161 of file CHMTSLAM.h.

◆ ConstPtr

Definition at line 75 of file CHMTSLAM.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CHMTSLAM::ConstUniquePtr = std::unique_ptr<const CHMTSLAM >

Definition at line 75 of file CHMTSLAM.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 75 of file CHMTSLAM.h.

◆ TLopLCDetectorFactory

Definition at line 309 of file CHMTSLAM.h.

◆ UniquePtr

using mrpt::hmtslam::CHMTSLAM::UniquePtr = std::unique_ptr< CHMTSLAM >

Definition at line 75 of file CHMTSLAM.h.

Member Enumeration Documentation

◆ TLSlamMethod

Enumerator
lsmRBPF_2DLASER 

Definition at line 229 of file CHMTSLAM.h.

Constructor & Destructor Documentation

◆ CHMTSLAM() [1/2]

CHMTSLAM::CHMTSLAM ( )

Default constructor.

Parameters
debug_out_streamIf debug output messages should be redirected to any other stream apart from std::cout

Definition at line 56 of file CHMTSLAM_main.cpp.

◆ CHMTSLAM() [2/2]

mrpt::hmtslam::CHMTSLAM::CHMTSLAM ( const CHMTSLAM )
inline

Definition at line 365 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ ~CHMTSLAM()

CHMTSLAM::~CHMTSLAM ( )
override

Destructor.

Definition at line 87 of file CHMTSLAM_main.cpp.

References mrpt::format(), MRPT_LOG_DEBUG, and MRPT_LOG_WARN.

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::_GetBaseClass ( )
staticprotected

◆ abortedDueToErrors()

bool CHMTSLAM::abortedDueToErrors ( )

Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on.

Definition at line 542 of file CHMTSLAM_main.cpp.

◆ areaAbstraction()

CHMTSLAM::TMessageLSLAMfromAA::Ptr CHMTSLAM::areaAbstraction ( CLocalMetricHypothesis LMH,
const TPoseIDList newPoseIDs 
)
staticprotected

The Area Abstraction (AA) method, invoked from LSLAM.

Parameters
LMH(IN) The LMH which to this query applies.
newPoseIDs(IN) The new poseIDs to be added to the graph partitioner.
Returns
A structure with all return data. Memory to be freed by user.
Note
The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 32 of file CHMTSLAM_AA.cpp.

References mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), ASSERT_, mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles(), mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning::idx2pose, mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning::lock, mrpt::system::LVL_DEBUG, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph, mrpt::hmtslam::CLocalMetricHypothesis::m_SFs, MRPT_END, MRPT_START, mrpt::slam::CIncrementalMapPartitioner::options, mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning::partitioner, and mrpt::slam::CIncrementalMapPartitioner::updatePartitions().

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◆ clearInputQueue()

void CHMTSLAM::clearInputQueue ( )

Empty the input queue.

Definition at line 154 of file CHMTSLAM_main.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CHMTSLAM::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::hmtslam::CHMTSLAM::Create ( Args &&...  args)
inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::hmtslam::CHMTSLAM::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CHMTSLAM::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::hmtslam::CHMTSLAM::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

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

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ generateHypothesisID()

THypothesisID CHMTSLAM::generateHypothesisID ( )
staticprotected

Generates a new and unique hypothesis ID.

Definition at line 530 of file CHMTSLAM_main.cpp.

◆ generateLogFiles()

◆ generatePoseID()

TPoseID CHMTSLAM::generatePoseID ( )
staticprotected

Generates a new and unique pose ID.

Definition at line 526 of file CHMTSLAM_main.cpp.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

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◆ generateUniqueAreaLabel()

std::string CHMTSLAM::generateUniqueAreaLabel ( )
staticprotected

Generates a new and unique area textual label (currently this generates "0","1",...)

Definition at line 518 of file CHMTSLAM_main.cpp.

References mrpt::format().

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◆ getAs3DScene()

void CHMTSLAM::getAs3DScene ( mrpt::opengl::COpenGLScene outScene)

Gets a 3D representation of the current state of the whole mapping framework.

Definition at line 534 of file CHMTSLAM_main.cpp.

References MRPT_UNUSED_PARAM.

◆ getClassName()

static constexpr auto mrpt::hmtslam::CHMTSLAM::getClassName ( )
inlinestatic

Definition at line 75 of file CHMTSLAM.h.

◆ getLogAsString() [1/2]

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

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

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

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

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [1/2]

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

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

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

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◆ getLoggerLastMsg() [2/2]

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

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

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

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

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

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

Definition at line 200 of file system/COutputLogger.h.

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

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

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◆ getNextObjectFromInputQueue()

CSerializable::Ptr CHMTSLAM::getNextObjectFromInputQueue ( )
protected

Used from the LSLAM thread to retrieve the next object from the queue.

Returns
The object, or nullptr if empty.

Definition at line 384 of file CHMTSLAM_main.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CHMTSLAM::GetRuntimeClassIdStatic ( )
static

◆ initializeEmptyMap()

void CHMTSLAM::initializeEmptyMap ( )

Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions.

Definition at line 402 of file CHMTSLAM_main.cpp.

References mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses(), COMMON_TOPOLOG_HYP, mrpt::system::createDirectory(), mrpt::system::deleteFilesInDirectory(), mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_log_w, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_REF_POSEID, POSEID_INVALID, and THROW_EXCEPTION_FMT.

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◆ inputQueueSize()

size_t CHMTSLAM::inputQueueSize ( )

Returns the number of objects waiting for processing in the input queue.

See also
pushAction,pushObservations, isInputQueueEmpty

Definition at line 371 of file CHMTSLAM_main.cpp.

◆ isInputQueueEmpty()

bool CHMTSLAM::isInputQueueEmpty ( )

Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)

See also
pushAction,pushObservations, inputQueueSize

Definition at line 357 of file CHMTSLAM_main.cpp.

◆ isLoggingLevelVisible()

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

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

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

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

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◆ loadOptions() [1/2]

void CHMTSLAM::loadOptions ( const std::string configFile)

Loads the options from a config file.

Definition at line 251 of file CHMTSLAM_main.cpp.

References ASSERT_, and mrpt::system::fileExists().

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◆ loadOptions() [2/2]

void CHMTSLAM::loadOptions ( const mrpt::config::CConfigFileBase cfgSource)

Loads the options from a config source.

Definition at line 229 of file CHMTSLAM_main.cpp.

◆ loadState()

bool CHMTSLAM::loadState ( mrpt::serialization::CArchive in)

Load the state of the whole HMT-SLAM framework from some binary stream (e.g.

a file).

Returns
true if everything goes OK.
See also
saveState

Definition at line 585 of file CHMTSLAM_main.cpp.

◆ logCond()

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

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

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

Definition at line 291 of file COutputLogger.cpp.

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

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◆ logFmt()

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

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

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

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

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

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

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

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◆ logging_levels_to_names()

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

Map from VerbosityLevels to their corresponding names.

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

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

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

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

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

◆ logStr()

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

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

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

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

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

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◆ loopClosureDetector_factory()

CTopLCDetectorBase * CHMTSLAM::loopClosureDetector_factory ( const std::string name)

The class factory for topological loop closure detectors.

Possible values are enumerated in TOptions::TLC_detectors

Exceptions
std::exceptionOn unknown name.

Definition at line 560 of file CHMTSLAM_main.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

◆ LSLAM_process_message()

void CHMTSLAM::LSLAM_process_message ( const mrpt::serialization::CMessage msg)
protected

Auxiliary method within thread_LSLAM.

Definition at line 270 of file CHMTSLAM_LSLAM.cpp.

References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ LSLAM_process_message_from_AA()

void CHMTSLAM::LSLAM_process_message_from_AA ( const TMessageLSLAMfromAA myMsg)
protected

No critical section locks are assumed at the entrance of this method.

Definition at line 300 of file CHMTSLAM_LSLAM.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, mrpt::serialization::archiveFrom(), AREAID_INVALID, ASSERT_, mrpt::containers::begin(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::DEG2RAD(), mrpt::poses::CPose3D::distanceEuclidean6D(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::distanceTo(), mrpt::opengl::COpenGLScene::enableFollowCamera(), mrpt::containers::erase_return_next(), mrpt::containers::list_searchable< T >::find(), mrpt::format(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA::hypothesisID, mrpt::math::MatrixVectorBase< Scalar, Derived >::inMatlabFormat(), mrpt::containers::list_searchable< T >::insert(), mrpt::opengl::COpenGLScene::insert(), mrpt::obs::CSensoryFrame::insert(), mrpt::obs::CSensoryFrame::insertObservationsInto(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::system::LVL_INFO, mrpt::bayes::CParticleFilterData< T, STORAGE >::m_particles, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO_STREAM, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA::partitions, mrpt::hmtslam::TPoseInfo::pdf, POSEID_INVALID, mrpt::RAD2DEG(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::hmtslam::TPoseInfo::sf, mrpt::square(), mrpt::system::stringListAsString(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::system::CTicTac::Tic(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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◆ LSLAM_process_message_from_TBI()

◆ operator=()

const CHMTSLAM& mrpt::hmtslam::CHMTSLAM::operator= ( const CHMTSLAM )
inline

Definition at line 369 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ perform_TLC()

void CHMTSLAM::perform_TLC ( CLocalMetricHypothesis LMH,
const CHMHMapNode::TNodeID  areaInLMH,
const CHMHMapNode::TNodeID  areaLoopClosure,
const mrpt::poses::CPose3DPDFGaussian pose1wrt2 
)
protected

◆ pushAction()

void CHMTSLAM::pushAction ( const mrpt::obs::CActionCollection::Ptr acts)

Here the user can enter an action into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also
pushObservations,pushObservation

Definition at line 171 of file CHMTSLAM_main.cpp.

◆ pushObservation()

void CHMTSLAM::pushObservation ( const mrpt::obs::CObservation::Ptr obs)

Here the user can enter an observation into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also
pushAction,pushObservation

Definition at line 207 of file CHMTSLAM_main.cpp.

◆ pushObservations()

void CHMTSLAM::pushObservations ( const mrpt::obs::CSensoryFrame::Ptr sf)

Here the user can enter observations into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also
pushAction,pushObservation

Definition at line 189 of file CHMTSLAM_main.cpp.

◆ registerLoopClosureDetector()

void CHMTSLAM::registerLoopClosureDetector ( const std::string name,
CTopLCDetectorBase *(*)(CHMTSLAM *)  ptrCreateObject 
)

Must be invoked before calling initializeEmptyMap, so LC objects can be created.

Definition at line 551 of file CHMTSLAM_main.cpp.

◆ saveState()

bool CHMTSLAM::saveState ( mrpt::serialization::CArchive out) const

Save the state of the whole HMT-SLAM framework to some binary stream (e.g.

a file).

Returns
true if everything goes OK.
See also
loadState

Definition at line 572 of file CHMTSLAM_main.cpp.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeFrom() [2/2]

void CHMTSLAM::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 601 of file CHMTSLAM_main.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CHMTSLAM::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 625 of file CHMTSLAM_main.cpp.

◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeTo() [2/2]

void CHMTSLAM::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 626 of file CHMTSLAM_main.cpp.

◆ setLoggerName()

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

Set the name of the COutputLogger instance.

See also
getLoggerName

Definition at line 138 of file COutputLogger.cpp.

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

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

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

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

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

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

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◆ TBI_main_method()

CHMTSLAM::TMessageLSLAMfromTBI::Ptr CHMTSLAM::TBI_main_method ( CLocalMetricHypothesis LMH,
const CHMHMapNode::TNodeID areaID 
)
staticprotected

The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.

Parameters
LMH(IN) The LMH which to this query applies.
areaID(IN) The area ID to consider for potential loop-closures.
Note
The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 105 of file CHMTSLAM_TBI.cpp.

References mrpt::poses::CPose3DPDFSOG::appendFrom(), ASSERT_, mrpt::poses::CPose3DPDFSOG::clear(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur, IS_CLASS, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik, mrpt::system::LVL_DEBUG, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, MRPT_END, MRPT_START, and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ thread_3D_viewer()

void CHMTSLAM::thread_3D_viewer ( )
protected

The function for the "3D viewer" thread.

Definition at line 31 of file CHMTSLAM_3D_viewer.cpp.

References mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, and MRPT_TODO.

◆ thread_LSLAM()

void CHMTSLAM::thread_LSLAM ( )
protected

The function for the "Local SLAM" thread.

Definition at line 47 of file CHMTSLAM_LSLAM.cpp.

References ASSERT_, CLASS_ID, mrpt::random::getRandomGenerator(), mrpt::system::LVL_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR, mrpt::random::CRandomGenerator::randomize(), mrpt::system::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::system::CTicTac::Tic().

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◆ thread_TBI()

void CHMTSLAM::thread_TBI ( )
protected

The function for the "TBI" thread.

Definition at line 33 of file CHMTSLAM_TBI.cpp.

References mrpt::random::getRandomGenerator(), mrpt::system::LVL_DEBUG, mrpt::system::LVL_ERROR, MRPT_TODO, and mrpt::random::CRandomGenerator::randomize().

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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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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CLocalMetricHypothesis

friend class CLocalMetricHypothesis
friend

Definition at line 70 of file CHMTSLAM.h.

◆ CLSLAM_RBPF_2DLASER

friend class CLSLAM_RBPF_2DLASER
friend

Definition at line 71 of file CHMTSLAM.h.

◆ CTopLCDetector_FabMap

friend class CTopLCDetector_FabMap
friend

Definition at line 73 of file CHMTSLAM.h.

◆ CTopLCDetector_GridMatching

friend class CTopLCDetector_GridMatching
friend

Definition at line 72 of file CHMTSLAM.h.

Member Data Documentation

◆ _init_CHMTSLAM

mrpt::rtti::CLASSINIT mrpt::hmtslam::CHMTSLAM::_init_CHMTSLAM
staticprotected

Definition at line 75 of file CHMTSLAM.h.

◆ className

constexpr const char* mrpt::hmtslam::CHMTSLAM::className = "CHMTSLAM"
static

Definition at line 75 of file CHMTSLAM.h.

◆ logging_enable_console_output

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

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

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

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

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

See also
writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_hThread_3D_viewer

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_3D_viewer
protected

Definition at line 267 of file CHMTSLAM.h.

◆ m_hThread_LSLAM

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_LSLAM
protected

Threads handles.

Definition at line 267 of file CHMTSLAM.h.

◆ m_hThread_TBI

std::thread mrpt::hmtslam::CHMTSLAM::m_hThread_TBI
protected

Definition at line 267 of file CHMTSLAM.h.

◆ m_inputQueue

std::queue<mrpt::serialization::CSerializable::Ptr> mrpt::hmtslam::CHMTSLAM::m_inputQueue
protected

The queue of pending actions/observations supplied by the user waiting for being processed.

Definition at line 242 of file CHMTSLAM.h.

◆ m_inputQueue_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs
mutableprotected

Critical section for accessing m_inputQueue.

Definition at line 245 of file CHMTSLAM.h.

◆ m_LMHs

std::map<THypothesisID, CLocalMetricHypothesis> mrpt::hmtslam::CHMTSLAM::m_LMHs

The list of LMHs at each instant.

Definition at line 417 of file CHMTSLAM.h.

◆ m_LMHs_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_LMHs_cs
mutableprotected

Critical section for accessing m_LMHs.

Definition at line 251 of file CHMTSLAM.h.

◆ m_LSLAM_method

CLSLAMAlgorithmBase* mrpt::hmtslam::CHMTSLAM::m_LSLAM_method
protected

An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".

Definition at line 301 of file CHMTSLAM.h.

◆ m_LSLAM_queue

CMessageQueue mrpt::hmtslam::CHMTSLAM::m_LSLAM_queue
protected

Definition at line 163 of file CHMTSLAM.h.

◆ m_map

CHierarchicalMHMap mrpt::hmtslam::CHMTSLAM::m_map

The hiearchical, multi-hypothesis graph-based map.

Definition at line 415 of file CHMTSLAM.h.

◆ m_map_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_map_cs
mutableprotected

Critical section for accessing m_map.

Definition at line 248 of file CHMTSLAM.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 252 of file system/COutputLogger.h.

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

◆ m_nextAreaLabel

int64_t CHMTSLAM::m_nextAreaLabel = 0
staticprotected

Definition at line 354 of file CHMTSLAM.h.

◆ m_nextHypID

THypothesisID CHMTSLAM::m_nextHypID = COMMON_TOPOLOG_HYP + 1
staticprotected

Definition at line 356 of file CHMTSLAM.h.

◆ m_nextPoseID

TPoseID CHMTSLAM::m_nextPoseID = 0
staticprotected

Definition at line 355 of file CHMTSLAM.h.

◆ m_options

◆ m_registeredLCDetectors

std::map<std::string, TLopLCDetectorFactory> mrpt::hmtslam::CHMTSLAM::m_registeredLCDetectors
protected

Definition at line 311 of file CHMTSLAM.h.

◆ m_terminateThreads

bool mrpt::hmtslam::CHMTSLAM::m_terminateThreads
protected

Termination flag for signaling all threads to terminate.

Definition at line 337 of file CHMTSLAM.h.

◆ m_terminationFlag_3D_viewer

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_3D_viewer
protected

Definition at line 341 of file CHMTSLAM.h.

◆ m_terminationFlag_LSLAM

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_LSLAM
protected

Threads termination flags:

Definition at line 341 of file CHMTSLAM.h.

◆ m_terminationFlag_TBI

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_TBI
protected

Definition at line 341 of file CHMTSLAM.h.

◆ m_topLCdets

std::deque<CTopLCDetectorBase*> mrpt::hmtslam::CHMTSLAM::m_topLCdets
protected

The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".

Definition at line 315 of file CHMTSLAM.h.

◆ m_topLCdets_cs

std::mutex mrpt::hmtslam::CHMTSLAM::m_topLCdets_cs
protected

The critical section for accessing m_topLCdets.

Definition at line 318 of file CHMTSLAM.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CHMTSLAM::runtimeClassId
staticprotected

Definition at line 75 of file CHMTSLAM.h.




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