Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also: CMetricMap

Definition at line 33 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...

virtual	~CMetricMapBuilder ()
	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::CMultiMetricMap *	getCurrentlyBuiltMetricMap () 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
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Logging methods
bool	logging_enable_console_output
	[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
	[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=NULL) 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 ( )

virtual

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.

◆ 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 39 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

◆ 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().

◆ 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().

◆ 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().

◆ 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().

◆ 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().

◆ 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().

◆ leaveCriticalSection()

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

inlineprotected

Leave critical section for map updating.

Definition at line 41 of file CMetricMapBuilder.h.

References critZoneChangingMap.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

◆ 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().

◆ 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 290 of file COutputLogger.cpp.

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

◆ logFmt()

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

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ 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().

◆ 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().

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 277 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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ 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

action	The estimation of the incremental pose change in the robot pose.
observations	The 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

file	The output file name
formatEMF_BMP	Output 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::slam::CMetricMapBuilderICP::setCurrentMapFile().

◆ 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().

◆ 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().

◆ 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().

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = NULL ) 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().

Member Data Documentation

◆ critZoneChangingMap

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

protected

Critical zones.

Definition at line 37 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), enterCriticalSection(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), leaveCriticalSection(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

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

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_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

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().

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options

Definition at line 141 of file CMetricMapBuilder.h.

Referenced by enableMapUpdating(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Logging methods

Constructor & Destructor Documentation

◆ CMetricMapBuilder()

◆ ~CMetricMapBuilder()

Member Function Documentation

◆ clear()

◆ dumpLogToConsole()

◆ enableMapUpdating()

◆ enterCriticalSection()

◆ getCurrentlyBuiltMap()

◆ getCurrentlyBuiltMapSize()

◆ getCurrentlyBuiltMetricMap()

◆ getCurrentPoseEstimation()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initialize()

◆ isLoggingLevelVisible()

◆ leaveCriticalSection()

◆ loadCurrentMapFromFile()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ processActionObservation()

◆ saveCurrentEstimationToImage()

◆ saveCurrentMapToFile()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ writeLogToFile()

Member Data Documentation

◆ critZoneChangingMap

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_min_verbosity_level

◆ options