MRPT  1.9.9
List of all members | Classes | Public Member Functions | Static Public Member Functions | Protected Attributes | Private Attributes
mrpt::slam::CIncrementalMapPartitioner Class Reference

Detailed Description

Finds partitions in metric maps based on N-cut graph partition theory.

Definition at line 54 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

Classes

struct  TOptions
 Configuration parameters. More...
 

Public Member Functions

 CIncrementalMapPartitioner ()
 ctor 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...
 
Change Coordinates System

Change the coordinate origin of all stored poses

Used for consistency with future new poses to enter in the system.

void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
 
void changeCoordinatesOriginPoseIndex (unsigned int newOriginPose)
 The new origin is given by the index of the pose that is to become the new origin. More...
 
void setSimilarityMethod (similarity_method_t method)
 Select the similarity method to use for newly inserted keyframes. More...
 
void setSimilarityMethod (similarity_func_t func)
 Sets a custom function for the similarity of new keyframes. More...
 
Access API to internal graph data
void getAs3DScene (mrpt::opengl::CSetOfObjects::Ptr &objs, const std::map< uint32_t, int64_t > *renameIndexes=nullptr) const
 Return a 3D representation of the graph: poses & links between them. More...
 
template<class MATRIX >
void getAdjacencyMatrix (MATRIX &outMatrix) const
 Return a copy of the adjacency matrix. More...
 
const mrpt::math::CMatrixDoublegetAdjacencyMatrix () const
 Return a const ref to the internal adjacency matrix. More...
 
const mrpt::maps::CSimpleMapgetSequenceOfFrames () const
 Read-only access to the sequence of Sensory Frames. More...
 
mrpt::maps::CSimpleMapgetSequenceOfFrames ()
 Access to the sequence of Sensory Frames. 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...
 

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...
 
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...
 

Protected Attributes

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

Private Attributes

mrpt::maps::CSimpleMap m_individualFrames
 
std::deque< mrpt::maps::CMultiMetricMap::Ptrm_individualMaps
 
mrpt::math::CMatrixD m_A {0, 0}
 Adjacency matrix. More...
 
std::vector< std::vector< uint32_t > > m_last_partition
 The last partition. More...
 
bool m_last_last_partition_are_new_ones {false}
 This will be true after adding new observations, and before an "updatePartitions" is invoked. More...
 
similarity_func_t m_sim_func
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::slam ::CIncrementalMapPartitioner >
 
using ConstPtr = std::shared_ptr< const mrpt::slam ::CIncrementalMapPartitioner >
 
using UniquePtr = std::unique_ptr< mrpt::slam ::CIncrementalMapPartitioner >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::slam ::CIncrementalMapPartitioner >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::slam" "::" "CIncrementalMapPartitioner"
 
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...
 

Main map partition API

TOptions options
 Algorithm parameters. More...
 
void clear ()
 
uint32_t addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::CPose3DPDF &robotPose3D)
 Insert a new keyframe to the graph. More...
 
void updatePartitions (std::vector< std::vector< uint32_t >> &partitions)
 Recalculate the map/graph partitions. More...
 
size_t getNodesCount ()
 Get the total node count currently in the internal map/graph. More...
 
void removeSetOfNodes (std::vector< uint32_t > indexesToRemove, bool changeCoordsRef=true)
 Remove a list of keyframes, with indices as returned by addMapFrame() More...
 

Logging methods

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

Member Typedef Documentation

◆ ConstPtr

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ ConstUniquePtr

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ UniquePtr

Definition at line 58 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner ( )
inline

ctor

Definition at line 62 of file CIncrementalMapPartitioner.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::_GetBaseClass ( )
staticprotected

◆ addMapFrame()

uint32_t CIncrementalMapPartitioner::addMapFrame ( const mrpt::obs::CSensoryFrame frame,
const mrpt::poses::CPose3DPDF robotPose3D 
)

Insert a new keyframe to the graph.

Call this method each time a new observation is added to the map/graph. Afterwards, call updatePartitions() to get the updated partitions.

Parameters
frameThe sensed data
robotPoseAn estimation of the robot global pose.
Returns
The index of the new pose in the graph, which can be used to refer to this pose in the future.
See also
updatePartitions

Definition at line 120 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, eval_similarity_metric_map_matching(), eval_similarity_observation_overlap(), mrpt::obs::CSensoryFrame::insertObservationsInto(), mrpt::slam::map_keyframe_t::kf_id, mrpt::slam::map_keyframe_t::metric_map, MRPT_END, MRPT_START, mrpt::slam::map_keyframe_t::raw_observations, mrpt::slam::smCUSTOM_FUNCTION, mrpt::slam::smMETRIC_MAP_MATCHING, mrpt::slam::smOBSERVATION_OVERLAP, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

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◆ changeCoordinatesOrigin()

void CIncrementalMapPartitioner::changeCoordinatesOrigin ( const mrpt::poses::CPose3D newOrigin)

Definition at line 339 of file CIncrementalMapPartitioner.cpp.

◆ changeCoordinatesOriginPoseIndex()

void CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex ( unsigned int  newOriginPose)

The new origin is given by the index of the pose that is to become the new origin.

Definition at line 345 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, and MRPT_START.

◆ clear()

void CIncrementalMapPartitioner::clear ( )

Definition at line 111 of file CIncrementalMapPartitioner.cpp.

Referenced by mrpt::slam::CRangeBearingKFSLAM::reset().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::Create ( Args &&...  args)
inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ CreateAlloc()

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

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::slam::CIncrementalMapPartitioner::CreateObject ( )
static

◆ CreateUnique()

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

Definition at line 58 of file CIncrementalMapPartitioner.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 204 of file CObject.h.

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

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

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◆ getAdjacencyMatrix() [1/2]

template<class MATRIX >
void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX &  outMatrix) const
inline

Return a copy of the adjacency matrix.

Definition at line 188 of file CIncrementalMapPartitioner.h.

References m_A.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getAdjacencyMatrix() [2/2]

const mrpt::math::CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const
inline

Return a const ref to the internal adjacency matrix.

Definition at line 194 of file CIncrementalMapPartitioner.h.

References m_A.

◆ getAs3DScene()

void CIncrementalMapPartitioner::getAs3DScene ( mrpt::opengl::CSetOfObjects::Ptr objs,
const std::map< uint32_t, int64_t > *  renameIndexes = nullptr 
) const

Return a 3D representation of the graph: poses & links between them.

The previous contents of "objs" will be discarded

Definition at line 361 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::opengl::CGridPlaneXY::Create(), mrpt::format(), mrpt::keep_max(), mrpt::keep_min(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

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◆ getClassName()

static constexpr auto mrpt::slam::CIncrementalMapPartitioner::getClassName ( )
inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.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 201 of file system/COutputLogger.h.

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

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

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◆ getNodesCount()

size_t CIncrementalMapPartitioner::getNodesCount ( )

Get the total node count currently in the internal map/graph.

Definition at line 255 of file CIncrementalMapPartitioner.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::GetRuntimeClassIdStatic ( )
static

◆ getSequenceOfFrames() [1/2]

const mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const
inline

Read-only access to the sequence of Sensory Frames.

Definition at line 196 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ getSequenceOfFrames() [2/2]

mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( )
inline

Access to the sequence of Sensory Frames.

Definition at line 202 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ isLoggingLevelVisible()

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

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

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

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

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◆ logCond()

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

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

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

Definition at line 291 of file COutputLogger.cpp.

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

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◆ logFmt()

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

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

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

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

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

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

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

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◆ logging_levels_to_names()

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

Map from VerbosityLevels to their corresponding names.

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

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

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

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

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

◆ logStr()

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

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

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

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

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

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◆ removeSetOfNodes()

void CIncrementalMapPartitioner::removeSetOfNodes ( std::vector< uint32_t >  indexesToRemove,
bool  changeCoordsRef = true 
)

Remove a list of keyframes, with indices as returned by addMapFrame()

Parameters
changeCoordsRefIf true, coordinates are changed to leave the first node at (0,0,0).

Definition at line 260 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ serializeFrom() [1/2]

void CIncrementalMapPartitioner::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 438 of file CIncrementalMapPartitioner.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

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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◆ serializeGetVersion()

uint8_t CIncrementalMapPartitioner::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 461 of file CIncrementalMapPartitioner.cpp.

◆ serializeTo() [1/2]

void CIncrementalMapPartitioner::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 462 of file CIncrementalMapPartitioner.cpp.

References out.

◆ serializeTo() [2/2]

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

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◆ setSimilarityMethod() [1/2]

void mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod ( similarity_method_t  method)
inline

Select the similarity method to use for newly inserted keyframes.

Definition at line 164 of file CIncrementalMapPartitioner.h.

References options, and mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method.

◆ setSimilarityMethod() [2/2]

void mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod ( similarity_func_t  func)
inline

Sets a custom function for the similarity of new keyframes.

Definition at line 170 of file CIncrementalMapPartitioner.h.

References m_sim_func, options, mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method, and mrpt::slam::smCUSTOM_FUNCTION.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ updatePartitions()

void CIncrementalMapPartitioner::updatePartitions ( std::vector< std::vector< uint32_t >> &  partitions)

Recalculate the map/graph partitions.

See also
addMapFrame()

Definition at line 237 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), and mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow().

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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.

Member Data Documentation

◆ className

constexpr const char* mrpt::slam::CIncrementalMapPartitioner::className = "mrpt::slam" "::" "CIncrementalMapPartitioner"
static

Definition at line 58 of file CIncrementalMapPartitioner.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_A

mrpt::math::CMatrixD mrpt::slam::CIncrementalMapPartitioner::m_A {0, 0}
private

Adjacency matrix.

Definition at line 213 of file CIncrementalMapPartitioner.h.

Referenced by getAdjacencyMatrix().

◆ m_individualFrames

mrpt::maps::CSimpleMap mrpt::slam::CIncrementalMapPartitioner::m_individualFrames
private

Definition at line 209 of file CIncrementalMapPartitioner.h.

Referenced by getSequenceOfFrames().

◆ m_individualMaps

std::deque<mrpt::maps::CMultiMetricMap::Ptr> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps
private

Definition at line 210 of file CIncrementalMapPartitioner.h.

◆ m_last_last_partition_are_new_ones

bool mrpt::slam::CIncrementalMapPartitioner::m_last_last_partition_are_new_ones {false}
private

This will be true after adding new observations, and before an "updatePartitions" is invoked.

Definition at line 220 of file CIncrementalMapPartitioner.h.

◆ m_last_partition

std::vector<std::vector<uint32_t> > mrpt::slam::CIncrementalMapPartitioner::m_last_partition
private

The last partition.

Definition at line 216 of file CIncrementalMapPartitioner.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_sim_func

similarity_func_t mrpt::slam::CIncrementalMapPartitioner::m_sim_func
private

Definition at line 222 of file CIncrementalMapPartitioner.h.

Referenced by setSimilarityMethod().

◆ options

TOptions mrpt::slam::CIncrementalMapPartitioner::options

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::slam::CIncrementalMapPartitioner::runtimeClassId
staticprotected

Definition at line 58 of file CIncrementalMapPartitioner.h.




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