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

• Map type: 2D
• MRPT rawlog format: #1, #2
• Graph Type: CPosePDFGaussianInf
• Observations Used: CObservationOdometry, CActionRobotMovement2D
• Node Registration Strategy: Fixed Odometry Intervals

.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).

• class_verbosity
  • Section : NodeRegistrationDeciderParameters
  • Default value : 1 (mrpt::system::LVL_INFO)
  • Required : FALSE
• registration_max_distance
  • Section : NodeRegistrationDeciderParameters
  • Default value : 0.5 // meters
  • Required : FALSE
• registration_max_angle
  • Section : NodeRegistrationDeciderParameters
  • Default value : 60 // degrees
  • Required : FALSE

Definition at line 71 of file CFixedIntervalsNRD.h.

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

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

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
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	printParams () const
	Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
virtual void	setGraphPtr (typename mrpt::graphs::CNetworkOfPoses2DInf *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...
bool	registerNewNodeAtEnd (const typename typename mrpt::graphs::CNetworkOfPoses2DInf ::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...
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 typename mrpt::graphs::CNetworkOfPoses2DInf ::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...
bool	registerNewNodeAtEnd (const typename typename mrpt::graphs::CNetworkOfPoses2DInf ::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...
typename mrpt::graphs::CNetworkOfPoses2DInf *	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...

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
std::string	generateStringFromFormat (const char *fmt, va_list argp) const
	Helper method for generating a std::string instance from printf-like arguments. More...

Private Attributes
std::string	m_logger_name
std::deque< TMsg >	m_history
std::deque< output_logger_callback_t >	m_listCallbacks

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()

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()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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< typename mrpt::graphs::CNetworkOfPoses2DInf >.

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

Definition at line 129 of file CFixedIntervalsNRD_impl.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::poses::CPose2D::phi(), and mrpt::math::wrapToPi().

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

Definition at line 145 of file CFixedIntervalsNRD_impl.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::math::wrapToPi(), and mrpt::poses::CPose3D::yaw().

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.

generateStringFromFormat()

std::string COutputLogger::generateStringFromFormat ( const char *  fmt, va_list  argp  ) const

privateinherited

Helper method for generating a std::string instance from printf-like arguments.

Definition at line 99 of file COutputLogger.cpp.

References mrpt::system::os::vsnprintf().

getClassName()

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::getClassName ( ) const

inlineinherited

Definition at line 139 of file CRegistrationDeciderOrOptimizer.h.

getCurrentRobotPosEstimation()

typename mrpt::graphs::CNetworkOfPoses2DInf ::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation

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

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< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 194 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

getLogAsString() [1/2]

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().

getLogAsString() [2/2]

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.

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

See also

setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

initializeLoggers()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::initializeLoggers ( const std::string &  name )

virtualinherited

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

Definition at line 43 of file CRegistrationDeciderOrOptimizer_impl.h.

initializeVisuals()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::initializeVisuals

virtualinherited

Initialize visual objects in CDisplayWindow (e.g.

add an object to scene).

Exceptions

std::exception

If 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

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

isMultiRobotSlamClass()

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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< typename mrpt::graphs::CNetworkOfPoses2DInf >.

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

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
 
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 80 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 61 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

notifyOfWindowEvents()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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() [1/2]

template<class GRAPH_T >

void mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::printParams

Definition at line 184 of file CFixedIntervalsNRD_impl.h.

References MRPT_END, and MRPT_START.

printParams() [2/2]

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::printParams

virtualinherited

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

Reimplemented in mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 125 of file CRegistrationDeciderOrOptimizer_impl.h.

registerNewNodeAtEnd() [1/2]

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.

registerNewNodeAtEnd() [2/2]

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]

constraint

Constraint transformation from the latest registered to the new node.

Returns

True upon successful node registration.

Definition at line 58 of file CNodeRegistrationDecider_impl.h.

resetPDF()

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.

setClassName()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::setClassName ( const std::string &  name )

virtualinherited

Definition at line 58 of file CRegistrationDeciderOrOptimizer_impl.h.

setCriticalSectionPtr()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 127 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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

alias of setMinLoggingLevel()

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

setWindowManagerPtr()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 37 of file CFixedIntervalsNRD_impl.h.

References mrpt::poses::CPose3DPDFGaussian::copyFrom(), IS_CLASS, MRPT_END, MRPT_LOG_DEBUG_FMT, MRPT_START, and MRPT_UNUSED_PARAM.

updateVisuals()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::updateVisuals

virtualinherited

Update the relevant visual features in CDisplayWindow.

Exceptions

std::exception

If 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

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::header_sep

staticprotectedinherited

Separator string to be used in debugging messages.

Definition at line 175 of file CRegistrationDeciderOrOptimizer.h.

is_mr_slam_class

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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:

= {
                CONCOL_BLUE,  
                CONCOL_NORMAL,  
                CONCOL_GREEN,  
                CONCOL_RED  
}

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

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_class_name

protectedinherited

Name of the class instance.

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

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

typename mrpt::graphs::CNetworkOfPoses2DInf * mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_graph

protectedinherited

Pointer to the graph that is under construction.

Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.

m_graph_section

std::mutex* mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_graph_section

protectedinherited

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

m_history

std::deque<TMsg> mrpt::system::COutputLogger::m_history

mutableprivateinherited

Definition at line 312 of file system/COutputLogger.h.

m_init_inf_mat

inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::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

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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_listCallbacks

std::deque<output_logger_callback_t> mrpt::system::COutputLogger::m_listCallbacks

privateinherited

Definition at line 314 of file system/COutputLogger.h.

m_logger_name

std::string mrpt::system::COutputLogger::m_logger_name

privateinherited

Definition at line 310 of file system/COutputLogger.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

mrpt::graphs::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::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

constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::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.

m_time_logger

mrpt::system::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_time_logger

protectedinherited

Time logger instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

m_win

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_win

protectedinherited

Window to use.

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

m_win_manager

mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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

mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::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

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::report_sep

staticprotectedinherited

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.