class mrpt::slam::CMetricMapBuilder

Overview

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also:

CMetricMap

#include <mrpt/slam/CMetricMapBuilder.h>

class CMetricMapBuilder: public mrpt::system::COutputLogger
{
public:
    // structs

    struct TOptions;

    // construction

    CMetricMapBuilder();

    // methods

    virtual void initialize(const mrpt::maps::CSimpleMap& initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF* x0 = nullptr) = 0;
    virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const = 0;
    virtual void processActionObservation(mrpt::obs::CActionCollection& action, mrpt::obs::CSensoryFrame& observations) = 0;
    virtual void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap& out_map) const = 0;
    virtual size_t getCurrentlyBuiltMapSize() = 0;
    virtual const mrpt::maps::CMultiMetricMap& getCurrentlyBuiltMetricMap() const = 0;
    virtual void saveCurrentEstimationToImage(const std::string& file) = 0;
    void clear();
    void enableMapUpdating(bool enable);
    void loadCurrentMapFromFile(const std::string& fileName);
    void saveCurrentMapToFile(const std::string& fileName, bool compressGZ = true) const;
};

// direct descendants

class CMetricMapBuilderICP;
class CMetricMapBuilderRBPF;

Inherited Members

public:
    // structs

    struct TMsg;

    // methods

    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);

Construction

CMetricMapBuilder()

Constructor.

Methods

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.

virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const = 0

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

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.

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.

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.

virtual size_t getCurrentlyBuiltMapSize() = 0

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

virtual const mrpt::maps::CMultiMetricMap& getCurrentlyBuiltMetricMap() const = 0

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()”.

virtual void saveCurrentEstimationToImage(const std::string& file) = 0

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

Parameters:

file	The output file name

void clear()

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

void enableMapUpdating(bool enable)

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

void loadCurrentMapFromFile(const std::string& fileName)

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

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

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