mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > Class Template Reference

Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >

Interface for implementing graphSLAM optimizer classes.

Class should provide a generic interface from which real optimizers should inherit so that they abide to the necessary method calls used in the CGraphSlamEngine class. For an example of inheriting from this class see CLevMarqGSO.

Note

As a naming convention, all the implemented graphslam optimizer classes are suffixed with the GSO acronym.

Definition at line 39 of file CGraphSlamOptimizer.h.

#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>

Inheritance diagram for mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >:

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...

Public Member Functions
	CGraphSlamOptimizer ()
	~CGraphSlamOptimizer ()
virtual bool	updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)=0
	Generic method for fetching the incremental action/observation readings from the calling function. More...
virtual bool	justFullyOptimizedGraph () const
	Used by the caller to query for possible full graph optimization on the latest optimizer run. More...
virtual void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
	Fetch a CWindowManager pointer. More...
virtual void	setCriticalSectionPtr (std::mutex *graph_section)
	Fetch a std::mutex for locking the GRAPH_T resource. More...
virtual void	initializeVisuals ()
	Initialize visual objects in CDisplayWindow (e.g. More...
virtual void	updateVisuals ()
	Update the relevant visual features in CDisplayWindow. More...
virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
	Get a list of the window events that happened since the last call. More...
virtual void	loadParams (const std::string &source_fname)
	Load the necessary for the decider/optimizer configuration parameters. More...
virtual void	printParams () const
	Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...
virtual void	getDescriptiveReport (std::string *report_str) const
	Fill the provided string with a detailed report of the decider/optimizer state. 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

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

Protected Member Functions
virtual void	optimizeGraph ()=0
	method called for optimizing the underlying graph. More...
virtual void	assertVisualsVars ()
	Handy function for making all the visuals assertions in a compact manner. More...

Protected Attributes
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
void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=NULL) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)
bool	logging_enable_console_output
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record
	[Default=false] Enables storing all messages into an internal list. More...

Member Typedef Documentation

constraint_t

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

using mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::constraint_t = typename GRAPH_t::constraint_t

Handy typedefs.

type of underlying constraints

Definition at line 46 of file CGraphSlamOptimizer.h.

pose_t

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

using mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::pose_t = typename GRAPH_t::constraint_t::type_value

type of underlying poses (2D/3D)

Definition at line 48 of file CGraphSlamOptimizer.h.

Constructor & Destructor Documentation

CGraphSlamOptimizer()

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

mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::CGraphSlamOptimizer ( )

inline

Definition at line 51 of file CGraphSlamOptimizer.h.

~CGraphSlamOptimizer()

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

mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::~CGraphSlamOptimizer ( )

inline

Definition at line 52 of file CGraphSlamOptimizer.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.

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.

getDescriptiveReport()

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf >::getDescriptiveReport ( std::string *  report_str ) const

virtualinherited

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

• Timing of important methods
• Properties fo class at the current time
• Logging of commands until current time

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >, mrpt::graphslam::deciders::CEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >, and mrpt::graphslam::deciders::CNodeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 131 of file CRegistrationDeciderOrOptimizer_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().

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.

justFullyOptimizedGraph()

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

virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::justFullyOptimizedGraph ( ) const

inlinevirtual

Used by the caller to query for possible full graph optimization on the latest optimizer run.

Definition at line 70 of file CGraphSlamOptimizer.h.

loadParams()

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

virtualinherited

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >.

Definition at line 118 of file CRegistrationDeciderOrOptimizer_impl.h.

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.

optimizeGraph()

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

virtual void mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::optimizeGraph ( )

protectedpure virtual

method called for optimizing the underlying graph.

Implemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >.

printParams()

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.

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 = typename mrpt::graphs::CNetworkOfPoses2DInf>

virtual bool mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t >::updateState ( mrpt::obs::CActionCollection::Ptr  action, mrpt::obs::CSensoryFrame::Ptr  observations, mrpt::obs::CObservation::Ptr  observation  )

pure 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 optimizeGraph function if the decision is to optimize the provided graph

Returns

True if the optimization procedure was executed.

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

Implemented in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::optimizers::CEmptyGSO< GRAPH_T >.

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_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_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_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.

report_sep

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

staticprotectedinherited

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.