Main MRPT website > C++ reference
MRPT logo
List of all members | Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::slam::CMetricMapBuilderICP Class Reference

Detailed Description

A class for very simple 2D SLAM based on ICP.

This is a non-probabilistic pose tracking algorithm. Map are stored as in files as binary dumps of "mrpt::slam::CSimpleMap" objects. The methods are thread-safe.

Definition at line 54 of file CMetricMapBuilderICP.h.

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP:
Inheritance graph
[legend]

Classes

struct  TConfigParams
 Algorithm configuration params. More...
 
struct  TDist
 Traveled distances from last map update / ICP-based localization. More...
 

Public Member Functions

 CMetricMapBuilderICP ()
 Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize". More...
 
virtual ~CMetricMapBuilderICP ()
 Destructor: More...
 
void initialize (const CSimpleMap &initialMap=CSimpleMap(), CPosePDF *x0=NULL)
 Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. More...
 
CPose3DPDFPtr getCurrentPoseEstimation () const
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
void setCurrentMapFile (const char *mapFile)
 Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object. More...
 
void processActionObservation (CActionCollection &action, CSensoryFrame &in_SF)
 Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
void processObservation (const CObservationPtr &obs)
 The main method of this class: Process one odometry or sensor observation. More...
 
void getCurrentlyBuiltMap (CSimpleMap &out_map) const
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
void getCurrentMapPoints (std::vector< float > &x, std::vector< float > &y)
 Returns the 2D points of current local map. More...
 
CMultiMetricMapgetCurrentlyBuiltMetricMap ()
 Returns the map built so far. More...
 
unsigned int getCurrentlyBuiltMapSize ()
 Returns just how many sensory-frames are stored in the currently build map. More...
 
void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
 
void clear ()
 Clear all elements of the maps, and reset localization to (0,0,0deg). More...
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file. More...
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 

Public Attributes

TConfigParams ICP_options
 Options for the ICP-SLAM application. More...
 
CICP::TConfigParams ICP_params
 Options for the ICP algorithm itself. More...
 
TOptions options
 

Protected Member Functions

void enterCriticalSection ()
 Enter critical section for map updating: More...
 
void leaveCriticalSection ()
 Leave critical section for map updating: More...
 

Protected Attributes

synch::CCriticalSection critZoneChangingMap
 Critical zones. More...
 

Private Member Functions

void accumulateRobotDisplacementCounters (const CPose2D &new_pose)
 
void resetRobotDisplacementCounters (const CPose2D &new_pose)
 

Private Attributes

CSimpleMap SF_Poses_seq
 The set of observations that leads to current map: More...
 
CMultiMetricMap metricMap
 The metric map representation as a points map: More...
 
std::string currentMapFile
 Current map file. More...
 
mrpt::poses::CRobot2DPoseEstimator m_lastPoseEst
 The pose estimation by the alignment algorithm (ICP). More...
 
mrpt::math::CMatrixDouble33 m_lastPoseEst_cov
 Last pose estimation (covariance) More...
 
std::deque< mrpt::math::TPose2Dm_estRobotPath
 The estimated robot path: More...
 
mrpt::poses::CPose2D m_auxAccumOdometry
 
TDist m_distSinceLastICP
 
mrpt::aligned_containers< std::string, TDist >::map_t m_distSinceLastInsertion
 Indexed by sensor label. More...
 
bool m_there_has_been_an_odometry
 

Constructor & Destructor Documentation

◆ CMetricMapBuilderICP()

mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP ( )

Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize".

◆ ~CMetricMapBuilderICP()

virtual mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP ( )
virtual

Destructor:

Member Function Documentation

◆ accumulateRobotDisplacementCounters()

void mrpt::slam::CMetricMapBuilderICP::accumulateRobotDisplacementCounters ( const CPose2D new_pose)
private

◆ clear()

void mrpt::slam::CMetricMapBuilder::clear ( )
inherited

Clear all elements of the maps, and reset localization to (0,0,0deg).

◆ enableMapUpdating()

void mrpt::slam::CMetricMapBuilder::enableMapUpdating ( bool  enable)
inlineinherited

Enables or disables the map updating (default state is enabled)

Definition at line 121 of file CMetricMapBuilder.h.

◆ enterCriticalSection()

void mrpt::slam::CMetricMapBuilder::enterCriticalSection ( )
inlineprotectedinherited

Enter critical section for map updating:

Definition at line 70 of file CMetricMapBuilder.h.

References mrpt::synch::CCriticalSection::enter().

◆ getCurrentlyBuiltMap()

void mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMap ( CSimpleMap out_map) const
virtual

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentlyBuiltMapSize()

unsigned int mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize ( )
virtual

Returns just how many sensory-frames are stored in the currently build map.

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentlyBuiltMetricMap()

CMultiMetricMap* mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMetricMap ( )
virtual

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".

Implements mrpt::slam::CMetricMapBuilder.

◆ getCurrentMapPoints()

void mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints ( std::vector< float > &  x,
std::vector< float > &  y 
)

Returns the 2D points of current local map.

◆ getCurrentPoseEstimation()

CPose3DPDFPtr mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation ( ) const
virtual

Returns a copy of the current best pose estimation as a pose PDF.

Implements mrpt::slam::CMetricMapBuilder.

◆ initialize()

void mrpt::slam::CMetricMapBuilderICP::initialize ( const CSimpleMap initialMap = CSimpleMap(),
CPosePDF x0 = NULL 
)
virtual

Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.

This method MUST be called if using the default constructor, after loading the configuration into ICP_options. In particular, TConfigParams::mapInitializers

Implements mrpt::slam::CMetricMapBuilder.

◆ leaveCriticalSection()

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection ( )
inlineprotectedinherited

Leave critical section for map updating:

Definition at line 74 of file CMetricMapBuilder.h.

References mrpt::synch::CCriticalSection::leave().

◆ loadCurrentMapFromFile()

void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile ( const std::string &  fileName)
inherited

Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ processActionObservation()

void mrpt::slam::CMetricMapBuilderICP::processActionObservation ( CActionCollection action,
CSensoryFrame in_SF 
)
virtual

Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters
actionThe estimation of the incremental pose change in the robot pose.
in_SFThe set of observations that robot senses at the new pose. See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options
See also
processObservation

Implements mrpt::slam::CMetricMapBuilder.

◆ processObservation()

void mrpt::slam::CMetricMapBuilderICP::processObservation ( const CObservationPtr obs)

The main method of this class: Process one odometry or sensor observation.

The new entry point of the algorithm (the old one was processActionObservation, which now is a wrapper to this method). See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

◆ resetRobotDisplacementCounters()

void mrpt::slam::CMetricMapBuilderICP::resetRobotDisplacementCounters ( const CPose2D new_pose)
private

◆ saveCurrentEstimationToImage()

void mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage ( const std::string &  file,
bool  formatEMF_BMP = true 
)
virtual

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters
fileThe output file name
formatEMF_BMPOutput format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

◆ saveCurrentMapToFile()

void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile ( const std::string &  fileName,
bool  compressGZ = true 
) const
inherited

Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file.

◆ setCurrentMapFile()

void mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile ( const char *  mapFile)

Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.

Member Data Documentation

◆ critZoneChangingMap

synch::CCriticalSection mrpt::slam::CMetricMapBuilder::critZoneChangingMap
protectedinherited

Critical zones.

Definition at line 66 of file CMetricMapBuilder.h.

◆ currentMapFile

std::string mrpt::slam::CMetricMapBuilderICP::currentMapFile
private

Current map file.

Definition at line 164 of file CMetricMapBuilderICP.h.

◆ ICP_options

TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_options

Options for the ICP-SLAM application.

See also
ICP_params

Definition at line 93 of file CMetricMapBuilderICP.h.

◆ ICP_params

CICP::TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_params

Options for the ICP algorithm itself.

See also
ICP_options

Definition at line 94 of file CMetricMapBuilderICP.h.

◆ m_auxAccumOdometry

mrpt::poses::CPose2D mrpt::slam::CMetricMapBuilderICP::m_auxAccumOdometry
private

Definition at line 173 of file CMetricMapBuilderICP.h.

◆ m_distSinceLastICP

TDist mrpt::slam::CMetricMapBuilderICP::m_distSinceLastICP
private

Definition at line 186 of file CMetricMapBuilderICP.h.

◆ m_distSinceLastInsertion

mrpt::aligned_containers<std::string,TDist>::map_t mrpt::slam::CMetricMapBuilderICP::m_distSinceLastInsertion
private

Indexed by sensor label.

Definition at line 187 of file CMetricMapBuilderICP.h.

◆ m_estRobotPath

std::deque<mrpt::math::TPose2D> mrpt::slam::CMetricMapBuilderICP::m_estRobotPath
private

The estimated robot path:

Definition at line 172 of file CMetricMapBuilderICP.h.

◆ m_lastPoseEst

mrpt::poses::CRobot2DPoseEstimator mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst
private

The pose estimation by the alignment algorithm (ICP).

Last pose estimation (Mean)

Definition at line 167 of file CMetricMapBuilderICP.h.

◆ m_lastPoseEst_cov

mrpt::math::CMatrixDouble33 mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst_cov
private

Last pose estimation (covariance)

Definition at line 168 of file CMetricMapBuilderICP.h.

◆ m_there_has_been_an_odometry

bool mrpt::slam::CMetricMapBuilderICP::m_there_has_been_an_odometry
private

Definition at line 188 of file CMetricMapBuilderICP.h.

◆ metricMap

CMultiMetricMap mrpt::slam::CMetricMapBuilderICP::metricMap
private

The metric map representation as a points map:

Definition at line 160 of file CMetricMapBuilderICP.h.

◆ options

TOptions mrpt::slam::CMetricMapBuilder::options
inherited

Definition at line 157 of file CMetricMapBuilder.h.

◆ SF_Poses_seq

CSimpleMap mrpt::slam::CMetricMapBuilderICP::SF_Poses_seq
private

The set of observations that leads to current map:

Definition at line 156 of file CMetricMapBuilderICP.h.




Page generated by Doxygen 1.8.14 for MRPT 1.0.2 SVN: at lun oct 28 00:52:41 CET 2019 Hosted on:
SourceForge.net Logo