MRPT  1.9.9
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mrpt::slam::CMetricMapBuilder Class Referenceabstract

Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also
CMetricMap

Definition at line 32 of file CMetricMapBuilder.h.

#include <mrpt/slam/CMetricMapBuilder.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilder:

Classes

struct  TOptions
 Options for the algorithm. More...
 

Public Member Functions

 CMetricMapBuilder ()
 Constructor. More...
 
 ~CMetricMapBuilder () override
 Destructor. More...
 
void clear ()
 Clear all elements of the maps, and reset localization to (0,0,0deg). More...
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...
 
Pure virtual methods to implement in any particular SLAM algorithm
virtual void initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr)=0
 Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...
 
virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation () const =0
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
virtual void processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)=0
 Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
virtual void getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const =0
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
virtual unsigned int getCurrentlyBuiltMapSize ()=0
 Returns just how many sensory-frames are stored in the currently build map. More...
 
virtual const mrpt::maps::CMultiMetricMapgetCurrentlyBuiltMetricMap () const =0
 Returns the map built so far. More...
 
virtual void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)=0
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. 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

TOptions options
 

Protected Member Functions

void enterCriticalSection ()
 Enter critical section for map updating. More...
 
void leaveCriticalSection ()
 Leave critical section for map updating. More...
 

Protected Attributes

std::mutex critZoneChangingMap
 Critical zones. More...
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. 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)
 

Constructor & Destructor Documentation

◆ CMetricMapBuilder()

CMetricMapBuilder::CMetricMapBuilder ( )

Constructor.

Definition at line 27 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

◆ ~CMetricMapBuilder()

CMetricMapBuilder::~CMetricMapBuilder ( )
override

Destructor.

Definition at line 34 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

Member Function Documentation

◆ clear()

void CMetricMapBuilder::clear ( )

Clear all elements of the maps, and reset localization to (0,0,0deg).

Definition at line 43 of file CMetricMapBuilder.cpp.

References initialize(), and MRPT_LOG_DEBUG.

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

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

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable)
inline

Enables or disables the map updating (default state is enabled)

Definition at line 104 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and options.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )
inlineprotected

Enter critical section for map updating.

Definition at line 38 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ getCurrentlyBuiltMap()

virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap out_map) const
pure virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by saveCurrentMapToFile().

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◆ getCurrentlyBuiltMapSize()

virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize ( )
pure virtual

Returns just how many sensory-frames are stored in the currently build map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ getCurrentlyBuiltMetricMap()

virtual const mrpt::maps::CMultiMetricMap* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap ( ) const
pure virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "clone()".

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ getCurrentPoseEstimation()

virtual mrpt::poses::CPose3DPDF::Ptr mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation ( ) const
pure virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ 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

◆ initialize()

virtual void mrpt::slam::CMetricMapBuilder::initialize ( const mrpt::maps::CSimpleMap initialMap = mrpt::maps::CSimpleMap(),
const mrpt::poses::CPosePDF x0 = nullptr 
)
pure virtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by clear(), and loadCurrentMapFromFile().

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◆ isLoggingLevelVisible()

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

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

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

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

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◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )
inlineprotected

Leave critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

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◆ loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string &  fileName)

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 56 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

Referenced by mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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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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◆ processActionObservation()

virtual void mrpt::slam::CMetricMapBuilder::processActionObservation ( mrpt::obs::CActionCollection action,
mrpt::obs::CSensoryFrame observations 
)
pure virtual

Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters
actionThe estimation of the incremental pose change in the robot pose.
observationsThe set of observations that robot senses at the new pose.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ saveCurrentEstimationToImage()

virtual void mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage ( const std::string &  file,
bool  formatEMF_BMP = true 
)
pure virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters
fileThe output file name
formatEMF_BMPOutput format = true:EMF, false:BMP

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

◆ saveCurrentMapToFile()

void CMetricMapBuilder::saveCurrentMapToFile ( const std::string &  fileName,
bool  compressGZ = true 
) const

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 88 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), and mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile().

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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(), generic_pf_test(), generic_rbpf_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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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ critZoneChangingMap

std::mutex mrpt::slam::CMetricMapBuilder::critZoneChangingMap
protected

◆ 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_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().

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options



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