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

Detailed Description

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

Fixed Intervals Odometry-based Node Registration.

Description

Determine whether to insert a new pose in the graph given the distance and angle thresholds. When the odometry readings indicate that any of the thresholds has been surpassed, with regards to the previous registered pose, a new node is added in the graph.

Current decider is a minimal, simple implementation of the CNodeRegistrationDecider interface which can be used for 2D datasets. Decider does not guarantee thread safety when accessing the GRAPH_T resource. This is handled by the CGraphSlamEngine instance.

Specifications

.ini Configuration Parameters

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

Definition at line 71 of file CFixedIntervalsNRD.h.

#include <mrpt/graphslam/NRD/CFixedIntervalsNRD.h>

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

Classes

struct  TParams
 Parameters structure for managing the relevant to the decider variables in a compact manner. More...
 

Public Types

using node_reg = mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
 Handy typedefs. More...
 
using constraint_t = typename GRAPH_T::constraint_t
 type of graph constraints More...
 
using pose_t = typename GRAPH_T::constraint_t::type_value
 type of underlying poses (2D/3D). More...
 
using global_pose_t = typename GRAPH_T::global_pose_t
 
using inf_mat_t = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >
 
using parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
 Node Registration Decider. More...
 

Public Member Functions

 CFixedIntervalsNRD ()
 Class constructor. More...
 
 ~CFixedIntervalsNRD ()
 Class destructor. More...
 
void loadParams (const std::string &source_fname)
 Load the necessary for the decider/optimizer configuration parameters. More...
 
void printParams () const
 Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
 
void getDescriptiveReport (std::string *report_str) const
 Fill the provided string with a detailed report of the decider/optimizer state. More...
 
bool updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
 Method makes use of the CActionCollection/CObservation to update the odometry estimation from the last inserted pose. More...
 
virtual global_pose_t getCurrentRobotPosEstimation () const
 Getter method for fetching the currently estimated robot position. 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 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
 

Public Attributes

TParams params
 

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

void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
Registration Conditions Specifiers
bool checkRegistrationCondition ()
 If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph. More...
 
bool checkRegistrationCondition (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2) const
 
bool checkRegistrationCondition (const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2) const
 
bool registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
 Utility methods for adding new poses to the graph. More...
 
bool registerNewNodeAtEnd ()
 Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...
 
virtual void addNodeAnnotsToPose (global_pose_t *pose) const
 Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...
 

Protected Attributes

pose_t m_curr_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
pose_t m_last_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
bool m_observation_only_rawlog
 Keep track of whether we are reading from an observation-only rawlog file or from an action-observation rawlog. More...
 
mrpt::graphs::TNodeID m_prev_registered_nodeID
 Store the last registered NodeID. More...
 
constraint_t m_since_prev_node_PDF
 Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...
 
inf_mat_t m_init_inf_mat
 Initial information matrix for paths. 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
 

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)
 

Member Typedef Documentation

◆ constraint_t

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

type of graph constraints

Definition at line 86 of file CFixedIntervalsNRD.h.

◆ global_pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::global_pose_t = typename GRAPH_T::global_pose_t

Definition at line 89 of file CFixedIntervalsNRD.h.

◆ inf_mat_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::inf_mat_t = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length>

Definition at line 92 of file CFixedIntervalsNRD.h.

◆ node_reg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::node_reg = mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>

Handy typedefs.

Node Registration Decider

Definition at line 83 of file CFixedIntervalsNRD.h.

◆ parent_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
using mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>

Node Registration Decider.

Definition at line 95 of file CFixedIntervalsNRD.h.

◆ pose_t

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

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

Definition at line 88 of file CFixedIntervalsNRD.h.

Constructor & Destructor Documentation

◆ CFixedIntervalsNRD()

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

Class constructor.

Definition at line 23 of file CFixedIntervalsNRD_impl.h.

References MRPT_LOG_DEBUG.

◆ ~CFixedIntervalsNRD()

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

Class destructor.

Definition at line 29 of file CFixedIntervalsNRD_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >
void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t pose) const
protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note
Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 145 of file CNodeRegistrationDecider_impl.h.

◆ 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() [1/3]

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( )
protectedvirtual

If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph.

Returns
True on successful registration.

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

Definition at line 104 of file CFixedIntervalsNRD_impl.h.

References INVALID_NODEID, MRPT_END, and MRPT_START.

◆ checkRegistrationCondition() [2/3]

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( const mrpt::poses::CPose2D p1,
const mrpt::poses::CPose2D p2 
) const
protected

◆ checkRegistrationCondition() [3/3]

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::checkRegistrationCondition ( const mrpt::poses::CPose3D p1,
const mrpt::poses::CPose3D p2 
) const
protected

◆ 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.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >
GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const
virtualinherited

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

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

Definition at line 152 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::getDescriptiveReport ( std::string report_str) const
virtual

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::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 194 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

◆ 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.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::loadParams ( const std::string source_fname)
virtual

Load the necessary for the decider/optimizer configuration parameters.

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

Definition at line 165 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, MRPT_LOG_DEBUG, and MRPT_START.

◆ 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::deciders::CFixedIntervalsNRD< GRAPH_T >::printParams ( ) const
virtual

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

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

Definition at line 184 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protectedinherited

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters
[in]constraintConstraint transformation from the latest registered to the new node.
Returns
True upon successful node registration.

Definition at line 58 of file CNodeRegistrationDecider_impl.h.

◆ registerNewNodeAtEnd() [2/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )
protectedinherited

Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end.

Definition at line 121 of file CNodeRegistrationDecider_impl.h.

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

◆ resetPDF()

template<class GRAPH_T >
void CNodeRegistrationDecider::resetPDF ( constraint_t c)
protectedinherited

Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix.

Definition at line 132 of file CNodeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ 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::CFixedIntervalsNRD< GRAPH_T >::updateState ( mrpt::obs::CActionCollection::Ptr  action,
mrpt::obs::CSensoryFrame::Ptr  observations,
mrpt::obs::CObservation::Ptr  observation 
)
virtual

Method makes use of the CActionCollection/CObservation to update the odometry estimation from the last inserted pose.

Returns
True upon successful node registration in the graph

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

Definition at line 37 of file CFixedIntervalsNRD_impl.h.

References IS_CLASS, MRPT_END, MRPT_LOG_DEBUG_FMT, MRPT_START, and MRPT_UNUSED_PARAM.

◆ 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_curr_odometry_only_pose

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
pose_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_curr_odometry_only_pose
protected

pose_t estimation using only odometry information.

Handy for observation-only rawlogs.

Definition at line 169 of file CFixedIntervalsNRD.h.

◆ 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_init_inf_mat

template<class GRAPH_T>
inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat
protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 135 of file CNodeRegistrationDecider.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_last_odometry_only_pose

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
pose_t mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_last_odometry_only_pose
protected

pose_t estimation using only odometry information.

Handy for observation-only rawlogs.

Definition at line 173 of file CFixedIntervalsNRD.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().

◆ m_observation_only_rawlog

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::m_observation_only_rawlog
protected

Keep track of whether we are reading from an observation-only rawlog file or from an action-observation rawlog.

Definition at line 177 of file CFixedIntervalsNRD.h.

◆ m_prev_registered_nodeID

template<class GRAPH_T>
mrpt::graphs::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID
protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 125 of file CNodeRegistrationDecider.h.

◆ m_since_prev_node_PDF

template<class GRAPH_T>
constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF
protectedinherited

Tracking the PDF of the current position of the robot with regards to the <b previous registered node.

Definition at line 129 of file CNodeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

◆ 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.

◆ params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TParams mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::params

Definition at line 143 of file CFixedIntervalsNRD.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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