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

Detailed Description

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

ICP-based Edge Registration.

Description

Register new edges in the graph with the last inserted node. Criterion for adding new edges should be the goodness of the candidate ICP edge. The nodes for ICP are picked based on the distance from the last inserted node.

See also

getNearbyNodesOf

Specifications

• Map type: 2D
• MRPT rawlog format: #1, #2
• Graph Type: CPosePDFGaussianInf
• Observations: CObservation2DRangeScan, CObservation3DRangeScan
• Edge Registration Strategy: ICP Goodnesss threshold

.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 : EdgeRegistrationDeciderParameters
  • default value : 1 (mrpt::system::LVL_INFO)
  • Required : FALSE
• LC_min_nodeid_diff
  • Section : GeneralConfiguration
  • Default value : 30
  • Required : FALSE
  • Description : Minimum NodeID difference for an edge to be considered a loop closure.
• ICP_max_distance
  • Section : EdgeRegistrationDeciderParameters
  • Default value : 10 // meters
  • Required : FALSE
  • Description : Maximum distance for scan-matching. Decider tries to align the laser scans of the current node and each of the previous nodes that are found within the designated ICP_max_distance.
• ICP_goodness_thresh
  • Section : EdgeRegistrationDeciderParameters
  • Default value : 0.75
  • Required : FALSE
  • Description : Threshold for accepting a scan-matching edge between the current and previous nodes
• visualize_laser_scans
  • Section : VisualizationParameters
  • Default value : TRUE
  • Required : FALSE
• scans_img_external_dir
  • Section : EdgeRegistrationDeciderParameters
  • Default value : . (current directory)
  • Required : FALSE
  • Description : Only applicable in datasets with 3DRangeScans that are externally stored (not stored in the given .rawlog file).

Definition at line 98 of file CICPCriteriaERD.h.

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

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

Classes
struct	TParams

Public Types
using	constraint_t = typename GRAPH_T::constraint_t
	Handy typedefs. More...
using	pose_t = typename GRAPH_T::constraint_t::type_value
	type of underlying poses (2D/3D). More...
using	parent_t = CRangeScanEdgeRegistrationDecider< GRAPH_T >
using	range_ops_t = typename parent_t::range_ops_t
using	decider_t = CICPCriteriaERD< GRAPH_T >
	self type - Handy type More...
using	nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t
using	parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >
	Handy typedefs. More...

Public Member Functions
	CICPCriteriaERD ()
	~CICPCriteriaERD ()
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...
void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
	Get a list of the window events that happened since the last call. More...
void	getEdgesStats (std::map< std::string, int > *edge_types_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...
void	initializeVisuals ()
	Initialize visual objects in CDisplayWindow (e.g. More...
void	updateVisuals ()
	Update the relevant visual features in CDisplayWindow. More...
void	loadParams (const std::string &source_fname)
	Fetch the latest observation that the current instance received (most probably during a call to the updateState method. 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...
virtual bool	justInsertedLoopClosure () const
	Used by the caller to query for possible loop closures in the last edge registration procedure. 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	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	checkRegistrationCondition2D (const std::set< mrpt::graphs::TNodeID > &nodes_set)
void	checkRegistrationCondition3D (const std::set< mrpt::graphs::TNodeID > &nodes_set)
void	registerNewEdge (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge)
void	checkIfInvalidDataset (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
void	getNearbyNodesOf (std::set< mrpt::graphs::TNodeID > *nodes_set, const mrpt::graphs::TNodeID &cur_nodeID, double distance)
	Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID. More...
void	toggleLaserScansVisualization ()
	togle the LaserScans visualization on and off More...
void	dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500)
virtual void	printParams () const
virtual 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...
virtual void	assertVisualsVars ()
	Handy function for making all the visuals assertions in a compact manner. More...
void	getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr)
	Align the 2D range scans provided and fill the potential edge that can transform the one into the other. More...
void	getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr)
	Align the 3D range scans provided and find the potential edge that can transform the one into the other. More...
void	decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0)
	Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points. More...
bool	convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out=nullptr)
	Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. 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 > &)
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 > &)
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 > &)
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
mrpt::img::TColor	m_search_disk_color
	see Constructor for initialization More...
mrpt::img::TColor	m_laser_scans_color
	see Constructor for initialization More...
double	m_offset_y_search_disk
int	m_text_index_search_disk
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr >	m_nodes_to_laser_scans2D
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr >	m_nodes_to_laser_scans3D
std::map< std::string, int >	m_edge_types_to_nums
bool	m_is_using_3DScan
mrpt::obs::CObservation2DRangeScan::Ptr	m_last_laser_scan2D
mrpt::obs::CObservation3DRangeScan::Ptr	m_last_laser_scan3D
mrpt::obs::CObservation2DRangeScan::Ptr	m_fake_laser_scan2D
size_t	m_last_total_num_nodes
	Keep track of the total number of registered nodes since the last time class method was called. More...
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...
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 Types
using	self_t = CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >
using	self_t = CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >

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::CICPCriteriaERD< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 106 of file CICPCriteriaERD.h.

decider_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::decider_t = CICPCriteriaERD<GRAPH_T>

self type - Handy type

Definition at line 112 of file CICPCriteriaERD.h.

nodes_to_scans2D_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t

Definition at line 113 of file CICPCriteriaERD.h.

parent

using mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<typename mrpt::graphs::CNetworkOfPoses2DInf >

inherited

Handy typedefs.

Parent of current class

Definition at line 48 of file CEdgeRegistrationDecider.h.

parent_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T>

Definition at line 109 of file CICPCriteriaERD.h.

pose_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value

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

Definition at line 108 of file CICPCriteriaERD.h.

range_ops_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::range_ops_t = typename parent_t::range_ops_t

Definition at line 110 of file CICPCriteriaERD.h.

self_t

using mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::self_t = CRangeScanOps<typename mrpt::graphs::CNetworkOfPoses2DInf >

privateinherited

Definition at line 81 of file CRangeScanOps.h.

Constructor & Destructor Documentation

CICPCriteriaERD()

template<class GRAPH_T >

mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD

Definition at line 24 of file CICPCriteriaERD_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::initializeLoggers(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums, mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_last_total_num_nodes, MRPT_END, MRPT_LOG_DEBUG, and MRPT_START.

~CICPCriteriaERD()

template<class GRAPH_T >

mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::~CICPCriteriaERD

Definition at line 46 of file CICPCriteriaERD_impl.h.

Member Function Documentation

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.

checkIfInvalidDataset()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkIfInvalidDataset ( mrpt::obs::CActionCollection::Ptr  action, mrpt::obs::CSensoryFrame::Ptr  observations, mrpt::obs::CObservation::Ptr  observation  )

protected

checkRegistrationCondition() [1/2]

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

inlineprotectedvirtualinherited

Definition at line 95 of file CEdgeRegistrationDecider.h.

checkRegistrationCondition() [2/2]

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::checkRegistrationCondition ( mrpt::graphs::TNodeID  from, mrpt::graphs::TNodeID  to  )

inlineprotectedvirtualinherited

Definition at line 91 of file CEdgeRegistrationDecider.h.

checkRegistrationCondition2D()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D ( const std::set< mrpt::graphs::TNodeID > &  nodes_set )

protected

Definition at line 167 of file CICPCriteriaERD_impl.h.

References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, and mrpt::slam::CICP::TReturnInfo::nIterations.

checkRegistrationCondition3D()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D ( const std::set< mrpt::graphs::TNodeID > &  nodes_set )

protected

Definition at line 250 of file CICPCriteriaERD_impl.h.

References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, and MRPT_START.

convert3DTo2DRangeScan()

bool mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::convert3DTo2DRangeScan ( mrpt::obs::CObservation3DRangeScan::Ptr &  scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *  scan2D_out = nullptr  )

protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns

True if operation was successful, false otherwise

Definition at line 147 of file CRangeScanOps_impl.h.

decimatePointsMap()

void mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::decimatePointsMap ( mrpt::maps::CPointsMap *  m, size_t  keep_point_every = 4, size_t  low_lim = 0  )

protectedinherited

Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.

Note

If low_lim is set then the PointsMap will contain at least low_lim measurements, regardless of keep_point_every value. Set low_lim to 0 if no lower limit is to be specified

Definition at line 113 of file CRangeScanOps_impl.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.

dumpVisibilityErrorMsg()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::dumpVisibilityErrorMsg ( std::string  viz_flag, int  sleep_time = 500  )

protected

Definition at line 550 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_LOG_ERROR_FMT, and MRPT_START.

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.

getDescriptiveReport()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< 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::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 595 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

getEdgesStats()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getEdgesStats ( std::map< std::string, int > *  edge_type_to_num ) const

virtual

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

Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 401 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

getICPEdge() [1/2]

void mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::getICPEdge ( const mrpt::obs::CObservation2DRangeScan &  from, const mrpt::obs::CObservation2DRangeScan &  to, constraint_t *  rel_edge, const mrpt::poses::CPose2D *  initial_pose = nullptr, mrpt::slam::CICP::TReturnInfo *  icp_info = nullptr  )

protectedinherited

Align the 2D range scans provided and fill the potential edge that can transform the one into the other.

User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 20 of file CRangeScanOps_impl.h.

getICPEdge() [2/2]

void mrpt::graphslam::deciders::CRangeScanOps< typename mrpt::graphs::CNetworkOfPoses2DInf >::getICPEdge ( const mrpt::obs::CObservation3DRangeScan &  from, const mrpt::obs::CObservation3DRangeScan &  to, constraint_t *  rel_edge, const mrpt::poses::CPose2D *  initial_pose = nullptr, mrpt::slam::CICP::TReturnInfo *  icp_info = nullptr  )

protectedinherited

Align the 3D range scans provided and find the potential edge that can transform the one into the other.

Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct

Definition at line 55 of file CRangeScanOps_impl.h.

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().

getNearbyNodesOf()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf ( std::set< mrpt::graphs::TNodeID > *  nodes_set, const mrpt::graphs::TNodeID &  cur_nodeID, double  distance  )

protected

Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID.

Definition at line 326 of file CICPCriteriaERD_impl.h.

References mrpt::math::distance(), MRPT_END, and MRPT_START.

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()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals

virtual

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

Definition at line 412 of file CICPCriteriaERD_impl.h.

References ASSERTDEBMSG_, mrpt::format(), mrpt::system::LVL_DEBUG, MRPT_END, and MRPT_START.

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.

justInsertedLoopClosure()

virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::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::deciders::CICPCriteriaERD< GRAPH_T >::loadParams ( const std::string &  source_fname )

virtual

Fetch the latest observation that the current instance received (most probably during a call to the updateState method.

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

Definition at line 567 of file CICPCriteriaERD_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()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > &  events_occurred )

virtual

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

Definition at line 355 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

printParams() [1/2]

void mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::printParams

protectedvirtualinherited

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 42 of file CRangeScanEdgeRegistrationDecider_impl.h.

printParams() [2/2]

template<class GRAPH_T >

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

Definition at line 585 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

registerNewEdge() [1/2]

void CEdgeRegistrationDecider::registerNewEdge ( const mrpt::graphs::TNodeID &  from, const mrpt::graphs::TNodeID &  to, const constraint_t &  rel_edge  )

protectedvirtualinherited

Register a new constraint/edge in the current graph.

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

Definition at line 44 of file CEdgeRegistrationDecider_impl.h.

registerNewEdge() [2/2]

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge ( const mrpt::graphs::TNodeID &  from, const mrpt::graphs::TNodeID &  to, const constraint_t &  rel_edge  )

protected

Definition at line 316 of file CICPCriteriaERD_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.

toggleLaserScansVisualization()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization

protected

togle the LaserScans visualization on and off

Definition at line 371 of file CICPCriteriaERD_impl.h.

References ASSERTDEBMSG_, mrpt::system::LVL_INFO, MRPT_END, and MRPT_START.

updateState()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaERD< 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< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 54 of file CICPCriteriaERD_impl.h.

References mrpt::format(), IS_CLASS, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, and MRPT_UNUSED_PARAM.

updateVisuals()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals

virtual

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

Definition at line 481 of file CICPCriteriaERD_impl.h.

References mrpt::DEG2RAD(), MRPT_END, and MRPT_START.

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_edge_types_to_nums

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::map<std::string, int> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums

protected

Definition at line 207 of file CICPCriteriaERD.h.

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

m_fake_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_fake_laser_scan2D

protected

Definition at line 214 of file CICPCriteriaERD.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_initialized_visuals

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

protectedinherited

Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.

m_is_using_3DScan

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_is_using_3DScan

protected

Definition at line 208 of file CICPCriteriaERD.h.

m_just_inserted_lc

bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_just_inserted_lc

protectedinherited

Definition at line 109 of file CEdgeRegistrationDecider.h.

m_laser_scans_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_laser_scans_color

protected

see Constructor for initialization

Definition at line 199 of file CICPCriteriaERD.h.

m_last_laser_scan2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan2D

protected

Definition at line 210 of file CICPCriteriaERD.h.

m_last_laser_scan3D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan3D

protected

Definition at line 211 of file CICPCriteriaERD.h.

m_last_total_num_nodes

size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::m_last_total_num_nodes

protectedinherited

Keep track of the total number of registered nodes since the last time class method was called.

Definition at line 75 of file CRangeScanEdgeRegistrationDecider.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_nodes_to_laser_scans2D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans2D

protected

Definition at line 204 of file CICPCriteriaERD.h.

m_nodes_to_laser_scans3D

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans3D

protected

Definition at line 206 of file CICPCriteriaERD.h.

m_offset_y_search_disk

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_offset_y_search_disk

protected

Definition at line 200 of file CICPCriteriaERD.h.

m_override_registered_nodes_check

bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >::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_search_disk_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_search_disk_color

protected

see Constructor for initialization

Definition at line 197 of file CICPCriteriaERD.h.

m_text_index_search_disk

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_text_index_search_disk

protected

Definition at line 201 of file CICPCriteriaERD.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::CICPCriteriaERD< GRAPH_T >::params

Definition at line 165 of file CICPCriteriaERD.h.

report_sep

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

staticprotectedinherited

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.