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mrpt::graphslam::deciders::CEmptyERD< GRAPH_T > Class Template Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >

Empty Edge Registration Decider.

Handy when you are testing other parts of the application but not the specific registration procedure

Definition at line 29 of file CEmptyERD.h.

#include <mrpt/graphslam/ERD/CEmptyERD.h>

Inheritance diagram for mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >:
Inheritance graph

Public Types

using constraint_t = typename GRAPH_T::constraint_t
 
using parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
 Handy typedefs. More...
 
using pose_t = typename GRAPH_T::constraint_t::type_value
 type of underlying poses (2D/3D). More...
 

Public Member Functions

 CEmptyERD ()
 
 ~CEmptyERD ()
 
bool updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
 Generic method for fetching the incremental action/observation readings from the calling function. More...
 
virtual void getEdgesStats (std::map< std::string, int > *edge_type_to_num) const
 Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More...
 
virtual bool justInsertedLoopClosure () const
 Used by the caller to query for possible loop closures in the last edge registration procedure. More...
 
virtual void getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. More...
 
virtual void setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
 Fetch a CWindowManager pointer. More...
 
virtual void setCriticalSectionPtr (std::mutex *graph_section)
 Fetch a std::mutex for locking the GRAPH_T resource. More...
 
virtual void initializeVisuals ()
 Initialize visual objects in CDisplayWindow (e.g. More...
 
virtual void updateVisuals ()
 Update the relevant visual features in CDisplayWindow. More...
 
virtual void notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
 Get a list of the window events that happened since the last call. More...
 
virtual void loadParams (const std::string &source_fname)
 Load the necessary for the decider/optimizer configuration parameters. More...
 
virtual void printParams () const
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
 
virtual void setGraphPtr (GRAPH_T *graph)
 Fetch the graph on which the decider/optimizer will work on. More...
 
virtual void initializeLoggers (const std::string &name)
 Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand. More...
 
virtual void setClassName (const std::string &name)
 
bool isMultiRobotSlamClass ()
 
std::string getClassName () const
 

Static Public Attributes

static mrpt::system::TConsoleColor logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::string logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS]
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Member Functions

virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
Registration criteria checks

Check whether a new edge should be registered in the graph.

If condition(s) for edge registration is satisfied, method should call the registerNewEdge method.

virtual void checkRegistrationCondition (mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to)
 
virtual void checkRegistrationCondition (const std::set< mrpt::graphs::TNodeID > &)
 

Protected Attributes

bool m_just_inserted_lc
 
bool m_override_registered_nodes_check
 Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method. More...
 
GRAPH_T * m_graph
 Pointer to the graph that is under construction. More...
 
std::mutex * m_graph_section
 
mrpt::system::CTimeLogger m_time_logger
 Time logger instance. More...
 
std::string m_class_name
 Name of the class instance. More...
 
bool is_mr_slam_class
 Boolean indicating if the current class can be used in multi-robot SLAM operations. More...
 
VerbosityLevel m_min_verbosity_level
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
Visuals-related variables methods
mrpt::graphslam::CWindowManagerm_win_manager
 Pointer to the CWindowManager object used to store visuals-related instances. More...
 
mrpt::gui::CDisplayWindow3Dm_win
 Window to use. More...
 
mrpt::graphslam::CWindowObserverm_win_observer
 CWindowObserver object for monitoring various visual-oriented events. More...
 
bool m_initialized_visuals
 

Static Protected Attributes

static const std::string header_sep
 Separator string to be used in debugging messages. More...
 
static const std::string report_sep
 

Private Member Functions

void registerNewEdge (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
 Register a new constraint/edge in the current graph. More...
 

Logging methods

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)
 
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...
 

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Definition at line 33 of file CEmptyERD.h.

◆ parent

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>
inherited

Handy typedefs.

Parent of current class

Definition at line 48 of file CEdgeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value
inherited

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

Definition at line 52 of file CEdgeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CEmptyERD()

template<class GRAPH_T >
mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >::CEmptyERD ( )

Definition at line 52 of file CEmptyERD.h.

◆ ~CEmptyERD()

template<class GRAPH_T >
mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >::~CEmptyERD ( )

Definition at line 56 of file CEmptyERD.h.

Member Function Documentation

◆ assertVisualsVars()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )
protectedvirtualinherited

Handy function for making all the visuals assertions in a compact manner.

Definition at line 97 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition() [1/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( mrpt::graphs::TNodeID  from,
mrpt::graphs::TNodeID  to 
)
inlineprotectedvirtualinherited

Definition at line 91 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition() [2/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( const std::set< mrpt::graphs::TNodeID > &  )
inlineprotectedvirtualinherited

Definition at line 95 of file CEdgeRegistrationDecider.h.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

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

See also
writeToFile

Definition at line 179 of file COutputLogger.cpp.

◆ getClassName()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const
inlineinherited

Definition at line 139 of file CRegistrationDeciderOrOptimizer.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void CEdgeRegistrationDecider::getDescriptiveReport ( std::string report_str) const
virtualinherited

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

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 33 of file CEdgeRegistrationDecider_impl.h.

◆ getEdgesStats()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num) const
inlinevirtualinherited

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 73 of file CEdgeRegistrationDecider.h.

◆ 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 143 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 148 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 184 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 190 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 132 of file COutputLogger.cpp.

Referenced by mrpt::system::COutputLogger::TMsg::TMsg().

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ initializeLoggers()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers ( const std::string name)
virtualinherited

◆ initializeVisuals()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )
virtualinherited

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Exceptions
std::exceptionIf the method is called without having first provided a CDisplayWindow3D* to the class instance
See also
setWindowManagerPtr, updateVisuals

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 90 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ isLoggingLevelVisible()

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

◆ isMultiRobotSlamClass()

template<class GRAPH_T >
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )
inherited

Definition at line 146 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justInsertedLoopClosure()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::justInsertedLoopClosure ( ) const
inlinevirtualinherited

Used by the caller to query for possible loop closures in the last edge registration procedure.

Definition at line 78 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams ( const std::string source_fname)
virtualinherited

◆ 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 120 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 287 of file COutputLogger.cpp.

References getAddress().

◆ 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 195 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 274 of file COutputLogger.cpp.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
const std::string msg_str 
) const
inherited

◆ notifyOfWindowEvents()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > &  events_occurred)
virtualinherited

Get a list of the window events that happened since the last call.

Method in derived classes is automatically called from the CGraphSlamEngine_t instance. After that, decider/optimizer should just fetch the parameters that it is interested in.

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 111 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ printParams()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams ( ) const
virtualinherited

◆ registerNewEdge()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >::registerNewEdge ( const mrpt::graphs::TNodeID from,
const mrpt::graphs::TNodeID to,
const constraint_t rel_edge 
)
privatevirtual

Register a new constraint/edge in the current graph.

Implementations of this class should provide a wrapper around GRAPH_T::insertEdge method.

Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.

Definition at line 70 of file CEmptyERD.h.

◆ setClassName()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string name)
virtualinherited

Definition at line 58 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( std::mutex *  graph_section)
virtualinherited

Fetch a std::mutex for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning
Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn't effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

Definition at line 81 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setGraphPtr()

template<class GRAPH_T>
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr ( GRAPH_T *  graph)
virtualinherited

Fetch the graph on which the decider/optimizer will work on.

Definition at line 139 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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 133 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

◆ setWindowManagerPtr()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager win_manager)
virtualinherited

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

Definition at line 67 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >::updateState ( mrpt::obs::CActionCollection::Ptr  action,
mrpt::obs::CSensoryFrame::Ptr  observations,
mrpt::obs::CObservation::Ptr  observation 
)
virtual

Generic method for fetching the incremental action/observation readings from the calling function.

Implementations of this interface should use (part of) the specified parameters and call the checkRegistrationCondition to check for potential Edge registration

Implements mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.

Definition at line 61 of file CEmptyERD.h.

◆ updateVisuals()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::updateVisuals ( )
virtualinherited

Update the relevant visual features in CDisplayWindow.

Exceptions
std::exceptionIf the method is called without having first provided a CDisplayWindow3D* to the class instance
See also
setWindowManagerPtr, initializeVisuals

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 105 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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 154 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ header_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep
staticprotectedinherited
Initial value:
=
std::string(80, '-')

Separator string to be used in debugging messages.

Definition at line 175 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

◆ is_mr_slam_class

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::is_mr_slam_class
protectedinherited

Boolean indicating if the current class can be used in multi-robot SLAM operations.

Definition at line 171 of file CRegistrationDeciderOrOptimizer.h.

◆ 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.

◆ logging_levels_to_colors

mrpt::system::TConsoleColor COutputLogger::logging_levels_to_colors
staticinherited
Initial value:

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Implementation file for the COutputLogger header class.

Handy for coloring the input based on the verbosity of the message

Definition at line 124 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names

std::string COutputLogger::logging_levels_to_names
staticinherited
Initial value:
=
{
"DEBUG",
"INFO ",
"WARN ",
"ERROR"
}

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 129 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ m_class_name

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name
protectedinherited

Name of the class instance.

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName().

◆ m_graph

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
GRAPH_T* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph
protectedinherited

Pointer to the graph that is under construction.

Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.

◆ m_graph_section

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::mutex* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section
protectedinherited

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

◆ m_initialized_visuals

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals
protectedinherited

Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.

◆ m_just_inserted_lc

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc
protectedinherited

◆ 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().

◆ m_override_registered_nodes_check

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_override_registered_nodes_check
protectedinherited

Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method.

By default set to false.

Definition at line 116 of file CEdgeRegistrationDecider.h.

◆ m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::system::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger
protectedinherited

◆ m_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win
protectedinherited

Window to use.

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_manager

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager
protectedinherited

Pointer to the CWindowManager object used to store visuals-related instances.

Definition at line 155 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_observer

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer
protectedinherited

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 160 of file CRegistrationDeciderOrOptimizer.h.

◆ report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep
staticprotectedinherited



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