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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

.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 98 of file CICPCriteriaERD.h.

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

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

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< GRAPH_T >
 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
 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...
 
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 (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 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)
 Register a new constraint/edge in the current graph. More...
 
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 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 > &)
 

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::Ptrm_nodes_to_laser_scans2D
 
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptrm_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...
 
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::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

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

Handy typedefs.

Parent of current class

Definition at line 48 of file CEdgeRegistrationDecider.h.

◆ 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.

Constructor & Destructor Documentation

◆ CICPCriteriaERD()

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

◆ ~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()

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.

◆ 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]

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

Definition at line 91 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition() [2/2]

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

Definition at line 95 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition2D()

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

◆ checkRegistrationCondition3D()

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

◆ convert3DTo2DRangeScan()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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.

References MRPT_END, and MRPT_START.

◆ decimatePointsMap()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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.

References mrpt::maps::CPointsMap::applyDeletionMask(), min, MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::size().

◆ 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.

◆ getClassName()

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

Definition at line 139 of file CRegistrationDeciderOrOptimizer.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void 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< GRAPH_T >.

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< GRAPH_T >.

Definition at line 401 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ getICPEdge() [1/2]

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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.

References mrpt::maps::CMetricMap::insertObservation(), MRPT_END, and MRPT_START.

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

◆ getICPEdge() [2/2]

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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.

References ASSERTDEBMSG_, mrpt::format(), mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::maps::CMetricMap::insertObservation(), 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

◆ 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()

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

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

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

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

◆ isMultiRobotSlamClass()

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

Definition at line 146 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justInsertedLoopClosure()

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

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

Definition at line 78 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::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< GRAPH_T >.

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

◆ 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::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< GRAPH_T >.

Definition at line 355 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ printParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaERD< 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::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.

Definition at line 585 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ registerNewEdge()

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 
)
protectedvirtual

Register a new constraint/edge in the current graph.

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

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

Definition at line 316 of file CICPCriteriaERD_impl.h.

◆ setClassName()

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

Definition at line 58 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

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

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

Handy for realising multithreading in the derived classes.

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

Definition at line 81 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setGraphPtr()

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

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

Definition at line 139 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 133 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ setWindowManagerPtr()

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

Fetch a CWindowManager pointer.

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

Definition at line 67 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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< GRAPH_T >.

Definition at line 54 of file CICPCriteriaERD_impl.h.

References mrpt::format(), IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), 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::exceptionIf the method is called without having first provided a CDisplayWindow3D* to the class instance
See also
setWindowManagerPtr, initializeVisuals

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

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

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_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

◆ 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

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

Pointer to the graph that is under construction.

Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.

◆ m_graph_section

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

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

◆ m_initialized_visuals

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

Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.

◆ m_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

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

◆ 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

template<class GRAPH_T >
size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::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.

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

◆ 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

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

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

By default set to false.

Definition at line 116 of file CEdgeRegistrationDecider.h.

◆ m_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

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::CICPCriteriaERD< GRAPH_T >::params

Definition at line 165 of file CICPCriteriaERD.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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