mrpt::graphslam::TUncertaintyPath< GRAPH_T > Struct Template Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::TUncertaintyPath< GRAPH_T >

Holds the data of an information path.

Path comprises of nodes (TNodeID type) and constraints between them. Only consecutive nodes are connected by edges, thus path.

See also

mrpt::deciders::CLoopCloserERD

Definition at line 29 of file TUncertaintyPath.h.

#include <mrpt/graphslam/misc/TUncertaintyPath.h>

Inheritance diagram for mrpt::graphslam::TUncertaintyPath< GRAPH_T >:

Public Types
using	constraint_t = typename GRAPH_T::constraint_t
	Handy typedefs. More...
using	pose_t = typename constraint_t::type_value
	type of underlying poses (2D/3D). More...
using	self_t = TUncertaintyPath< GRAPH_T >

Public Member Functions
	TUncertaintyPath ()
	TUncertaintyPath (const mrpt::graphs::TNodeID &starting_node)
	TUncertaintyPath (const mrpt::graphs::TNodeID &starting_node, const mrpt::graphs::TNodeID &ending_node, const constraint_t &edge)
	~TUncertaintyPath ()
void	clear ()
bool	isEmpty () const
void	assertIsBetweenNodeIDs (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to) const
	Assert that the current path is between the given nodeIDs. More...
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list. More...
void	dumpToTextStream (std::ostream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
std::string	getAsString () const
void	getAsString (std::string *str) const
const mrpt::graphs::TNodeID &	getSource () const
	Return the source node of this path. More...
const mrpt::graphs::TNodeID &	getDestination () const
	Return the Destination node of this path. More...
double	getDeterminant ()
bool	hasLowerUncertaintyThan (const self_t &other) const
	Test if the current path has a lower uncertainty than the other path. More...
void	addToPath (const mrpt::graphs::TNodeID &node, const constraint_t &edge)
	add a new link in the current path. More...
self_t &	operator+= (const self_t &other)
bool	operator== (const self_t &other) const
bool	operator!= (const self_t &other) const
void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
virtual void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...
void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Public Attributes
std::vector< mrpt::graphs::TNodeID >	nodes_traversed
	Nodes that the Path comprises of. More...
constraint_t	curr_pose_pdf
	Current path position + corresponding covariance. More...
bool	determinant_is_updated
	Determine whether the determinant of the Path is up-to-date and can be directly fetched or has to be computed again. More...
double	determinant_cached

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
static void	dumpVar_float (std::ostream &out, const char *varName, float v)
static void	dumpVar_double (std::ostream &out, const char *varName, double v)
static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)
static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Friends
std::ostream &	operator<< (std::ostream &o, const self_t &obj)

Member Typedef Documentation

constraint_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::TUncertaintyPath< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 34 of file TUncertaintyPath.h.

pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::TUncertaintyPath< GRAPH_T >::pose_t = typename constraint_t::type_value

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

Definition at line 36 of file TUncertaintyPath.h.

self_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::TUncertaintyPath< GRAPH_T >::self_t = TUncertaintyPath<GRAPH_T>

Definition at line 37 of file TUncertaintyPath.h.

Constructor & Destructor Documentation

TUncertaintyPath() [1/3]

template<class GRAPH_T >

mrpt::graphslam::TUncertaintyPath< GRAPH_T >::TUncertaintyPath

(

)

Definition at line 20 of file TUncertaintyPath_impl.h.

References mrpt::containers::clear().

TUncertaintyPath() [2/3]

template<class GRAPH_T >

mrpt::graphslam::TUncertaintyPath< GRAPH_T >::TUncertaintyPath

(

const mrpt::graphs::TNodeID &

starting_node

)

Definition at line 25 of file TUncertaintyPath_impl.h.

References mrpt::containers::clear().

TUncertaintyPath() [3/3]

template<class GRAPH_T >

mrpt::graphslam::TUncertaintyPath< GRAPH_T >::TUncertaintyPath	(	const mrpt::graphs::TNodeID &	starting_node,
		const mrpt::graphs::TNodeID &	ending_node,
		const constraint_t &	edge
	)

Definition at line 32 of file TUncertaintyPath_impl.h.

References mrpt::containers::clear().

~TUncertaintyPath()

template<class GRAPH_T >

mrpt::graphslam::TUncertaintyPath< GRAPH_T >::~TUncertaintyPath

(

)

Definition at line 42 of file TUncertaintyPath_impl.h.

Member Function Documentation

addToPath()

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::addToPath	(	const mrpt::graphs::TNodeID &	node,
		const constraint_t &	edge
	)

add a new link in the current path.

Add the node that the path traverses and the information matrix of the extra link

Definition at line 161 of file TUncertaintyPath_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath().

assertIsBetweenNodeIDs()

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::assertIsBetweenNodeIDs	(	const mrpt::graphs::TNodeID &	from,
		const mrpt::graphs::TNodeID &	to
	)		const

Assert that the current path is between the given nodeIDs.

Call to this method practically checks if the give nodes match the source and destination nodeIDs.

Note

Assertions will be executed only in Debug builds

Exceptions

std::runtime_error

in case the conditions don't hold

Definition at line 78 of file TUncertaintyPath_impl.h.

References ASSERTDEBMSG_, and mrpt::format().

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement().

clear()

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::clear

(

)

Definition at line 47 of file TUncertaintyPath_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath().

dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

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

dumpToTextStream()

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::dumpToTextStream ( std::ostream &  out ) const

virtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 180 of file TUncertaintyPath_impl.h.

References mrpt::format().

dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out, const char *  varName, bool  v  )

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out, const char *  varName, double  v  )

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out, const char *  varName, float  v  )

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out, const char *  varName, int  v  )

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out, const char *  varName, const std::string &  v  )

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

getAsString() [1/2]

template<class GRAPH_T >

std::string mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getAsString

(

)

const

Definition at line 223 of file TUncertaintyPath_impl.h.

getAsString() [2/2]

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getAsString

(

std::string *

str

)

const

Definition at line 186 of file TUncertaintyPath_impl.h.

References mrpt::containers::getSTLContainerAsString().

getDestination()

template<class GRAPH_T >

const mrpt::graphs::TNodeID & mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getDestination

(

)

const

Return the Destination node of this path.

Definition at line 236 of file TUncertaintyPath_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addToPaths(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::execDijkstraProjection().

getDeterminant()

template<class GRAPH_T >

double mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getDeterminant

(

)

Definition at line 242 of file TUncertaintyPath_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getMinUncertaintyPath(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::hasLowerUncertaintyThan(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::popMinUncertaintyPath().

getSource()

template<class GRAPH_T >

const mrpt::graphs::TNodeID & mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getSource

(

)

const

Return the source node of this path.

Definition at line 231 of file TUncertaintyPath_impl.h.

hasLowerUncertaintyThan()

template<class GRAPH_T >

bool mrpt::graphslam::TUncertaintyPath< GRAPH_T >::hasLowerUncertaintyThan

(

const self_t &

other

)

const

Test if the current path has a lower uncertainty than the other path.

Returns

True if the current path does have a lower uncertainty

Definition at line 271 of file TUncertaintyPath_impl.h.

References ASSERTDEBMSG_, mrpt::graphslam::TUncertaintyPath< GRAPH_T >::curr_pose_pdf, mrpt::format(), and mrpt::graphslam::TUncertaintyPath< GRAPH_T >::getDeterminant().

isEmpty()

template<class GRAPH_T >

bool mrpt::graphslam::TUncertaintyPath< GRAPH_T >::isEmpty

(

)

const

Returns

True if it is indeed empty.

Definition at line 72 of file TUncertaintyPath_impl.h.

loadFromConfigFile()

template<class GRAPH_T >

void mrpt::graphslam::TUncertaintyPath< GRAPH_T >::loadFromConfigFile ( const mrpt::config::CConfigFileBase &  source, const std::string &  section  )

virtual

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also

loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 174 of file TUncertaintyPath_impl.h.

loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file, const std::string &  section  )

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also

loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

operator!=()

template<class GRAPH_T >

bool mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator!=

(

const self_t &

other

)

const

Definition at line 155 of file TUncertaintyPath_impl.h.

operator+=()

template<class GRAPH_T >

TUncertaintyPath< GRAPH_T > & mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator+=

(

const self_t &

other

)

Definition at line 94 of file TUncertaintyPath_impl.h.

References ASSERTDEBMSG_, mrpt::graphslam::TUncertaintyPath< GRAPH_T >::curr_pose_pdf, and mrpt::graphslam::TUncertaintyPath< GRAPH_T >::nodes_traversed.

operator==()

template<class GRAPH_T >

bool mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator==

(

const self_t &

other

)

const

Definition at line 141 of file TUncertaintyPath_impl.h.

References mrpt::graphslam::TUncertaintyPath< GRAPH_T >::curr_pose_pdf, and mrpt::graphslam::TUncertaintyPath< GRAPH_T >::nodes_traversed.

saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::config::CConfigFileBase &  target, const std::string &  section  ) const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also

loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string &  config_file, const std::string &  section  ) const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also

saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Friends And Related Function Documentation

operator<<

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::ostream& operator<< ( std::ostream &  o, const self_t &  obj  )

friend

Definition at line 95 of file TUncertaintyPath.h.

Member Data Documentation

curr_pose_pdf

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

constraint_t mrpt::graphslam::TUncertaintyPath< GRAPH_T >::curr_pose_pdf

Current path position + corresponding covariance.

Definition at line 107 of file TUncertaintyPath.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::hasLowerUncertaintyThan(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator+=(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator==(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization().

determinant_cached

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::TUncertaintyPath< GRAPH_T >::determinant_cached

Definition at line 113 of file TUncertaintyPath.h.

determinant_is_updated

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::TUncertaintyPath< GRAPH_T >::determinant_is_updated

Determine whether the determinant of the Path is up-to-date and can be directly fetched or has to be computed again.

Definition at line 112 of file TUncertaintyPath.h.

nodes_traversed

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::vector<mrpt::graphs::TNodeID> mrpt::graphslam::TUncertaintyPath< GRAPH_T >::nodes_traversed

Nodes that the Path comprises of.

Nodes in the path are added to the end of the vector.

Definition at line 105 of file TUncertaintyPath.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addToPaths(), mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator+=(), and mrpt::graphslam::TUncertaintyPath< GRAPH_T >::operator==().