template class mrpt::graphslam::deciders::CNodeRegistrationDecider

Overview

Interface for implementing node registration classes.

CNodeRegistrationDecider provides the basic methods that have to exist in every node registration decider class. For an example of inheriting from this class see CFixedIntervalsNRD.

As a naming convention, all the implemented node registration deciders are suffixed with the NRD acronym.

#include <mrpt/graphslam/interfaces/CNodeRegistrationDecider.h>

template <class GRAPH_T>
class CNodeRegistrationDecider: public mrpt::graphslam::CRegistrationDeciderOrOptimizer
{
public:
    // typedefs

    typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> parent_t;
    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;
    typedef typename GRAPH_T::global_pose_t global_pose_t;
    typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> inf_mat_t;

    // construction

    CNodeRegistrationDecider();

    // methods

    virtual global_pose_t getCurrentRobotPosEstimation() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
};

// direct descendants

template <class GRAPH_T>
class CICPCriteriaNRD;

template <class GRAPH_T>
class CIncrementalNodeRegistrationDecider;

Inherited Members

public:
    // structs

    struct TMsg;

    // fields

    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};

    // methods

    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setVerbosityLevel(const VerbosityLevel level);
    void setVerbosityLevelForCallbacks(const VerbosityLevel level);
    void setMinLoggingLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    VerbosityLevel getMinLoggingLevelForCallbacks() const;
    bool isLoggingLevelVisible(VerbosityLevel level) const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string>& fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    void logRegisterCallback(output_logger_callback_t userFunc);
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static const std::array<const char*, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();
    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) = 0;
    virtual void setWindowManagerPtr(mrpt::graphslam::CWindowManager* win_manager);
    virtual void setCriticalSectionPtr(std::mutex* graph_section);
    virtual void initializeVisuals();
    virtual void updateVisuals();
    virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred);
    virtual void loadParams(const std::string& source_fname);
    virtual void printParams() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
    virtual void setGraphPtr(GRAPH_T* graph);
    virtual void initializeLoggers(const std::string& name);
    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;

Typedefs

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> parent_t

Handy typedefs.

Parent of current class

typedef typename GRAPH_T::constraint_t constraint_t

type of graph constraints

typedef typename GRAPH_T::constraint_t::type_value pose_t

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

Construction

CNodeRegistrationDecider()

Default class constructor.

Methods

virtual global_pose_t getCurrentRobotPosEstimation() const

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position

virtual void getDescriptiveReport(std::string* report_str) const

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

Timing of important methods
Properties fo class at the current time
Logging of commands until current time