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

Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >

ICP-based Fixed Intervals Node Registration.

Description

Current Decider is meant for adding nodes in 2D datasets recorded using a laser range finder or RGB-D camera (e.g. Kinect). No odometry data from encoders is needed. Using ICP to match consecutive RangeScan measurements, the decider keeps track of the pose transformation since the last registered node. If the norm or the angle of the latter surpasses certain thresholds (which are read from an external .ini file) then a new node is added to the graph)

See also
loadParams, TParams::loadFromConfigFile

Decider does not guarantee thread safety when accessing the GRAPH_T resource. This is handled by the CGraphSlamEngine class.

Specifications

.ini Configuration Parameters

The configuration parameters of the current 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).
Note
Since the decider inherits from the CRangeScanOps class, it parses the configuration parameters of the latter as well from the "ICP" section. Refer to the CRangeScanOps documentation for its list of configuration parameters
Class contains an instance of the TSlidingWindow class and it parses the configuration parameters of the latter from the "NodeRegistrationDeciderParameters" section. Refer to TSlidingWindow documentation for its list of configuration parameters

Definition at line 101 of file CICPCriteriaNRD.h.

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

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

Classes

struct  TParams
 

Public Types

typedef GRAPH_T::constraint_t constraint_t
 Handy typedefs. More...
 
typedef GRAPH_T::constraint_t::type_value pose_t
 type of underlying poses (2D/3D). More...
 
typedef GRAPH_T::global_pose_t global_pose_t
 
typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > InfMat
 
typedef mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T > range_ops_t
 Typedef for accessing methods of the RangeScanRegistrationDecider parent class. More...
 
typedef CICPCriteriaNRD< GRAPH_T > decider_t
 self type - Handy typedef More...
 
typedef mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T > parent_t
 Node Registration Decider. More...
 
typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > inf_mat_t
 

Public Member Functions

 CICPCriteriaNRD ()
 Class constructor. More...
 
 ~CICPCriteriaNRD ()
 Class destructor. More...
 
void loadParams (const std::string &source_fname)
 Load the necessary for the decider/optimizer configuration parameters. 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...
 
bool updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
 Update the decider state using the latest dataset measurements. More...
 
bool updateState2D (mrpt::obs::CObservation2DRangeScanPtr observation)
 Specialized updateState method used solely when dealing with 2DRangeScan information. More...
 
bool updateState3D (mrpt::obs::CObservation3DRangeScanPtr observation)
 Specialized updateState method used solely when dealing with 3DRangeScan information. More...
 
virtual global_pose_t getCurrentRobotPosEstimation () const
 Getter method for fetching the currently estimated robot position. More...
 
virtual void setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
 Fetch a CWindowManager pointer. More...
 
virtual void setCriticalSectionPtr (mrpt::synch::CCriticalSection *graph_section)
 Fetch a mrpt::synch::CCriticalSection 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 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
 

Protected Member Functions

bool checkRegistrationCondition ()
 Check whether a new node should be registered in the graph. More...
 
bool checkRegistrationCondition2D ()
 Specialized checkRegistrationCondtion method used solely when dealing with 2DRangeScan information. More...
 
bool checkRegistrationCondition3D ()
 Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information. More...
 
void resetPDF (constraint_t *c)
 Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...
 
virtual void assertVisualsVars ()
 Handy function for making all the visuals assertions in a compact manner. More...
 
void getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)
 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=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)
 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::CObservation3DRangeScanPtr &scan3D_in, mrpt::obs::CObservation2DRangeScanPtr *scan2D_out=NULL)
 Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More...
 
bool registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
 Utility methods for adding new poses to the graph. More...
 
bool registerNewNodeAtEnd ()
 Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...
 
virtual void addNodeAnnotsToPose (global_pose_t *pose) const
 Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...
 

Protected Attributes

bool m_is_using_3DScan
 
constraint_t m_latest_odometry_PDF
 Odometry rigid-body transformation since the last accepted LaserScan. More...
 
pose_t m_curr_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
pose_t m_last_odometry_only_pose
 pose_t estimation using only odometry information. More...
 
TSlidingWindow m_mahal_distance_ICP_odom
 Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements. More...
 
bool m_use_angle_difference_node_reg
 
bool m_use_distance_node_reg
 
int m_times_used_ICP
 How many times we used the ICP Edge instead of Odometry edge. More...
 
int m_times_used_odom
 How many times we used the Odometry Edge instead of the ICP edge. More...
 
mrpt::utils::TNodeID m_prev_registered_nodeID
 Store the last registered NodeID. More...
 
constraint_t m_since_prev_node_PDF
 Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...
 
inf_mat_t m_init_inf_mat
 Initial information matrix for paths. More...
 
GRAPH_T * m_graph
 Pointer to the graph that is under construction. More...
 
mrpt::synch::CCriticalSectionm_graph_section
 
mrpt::utils::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...
 
mrpt::obs::CObservation2DRangeScanPtr m_last_laser_scan2D
 handy laser scans to use in the class methods More...
 
mrpt::obs::CObservation2DRangeScanPtr m_curr_laser_scan2D
 Current LaserScan. More...
 
mrpt::obs::CObservation3DRangeScanPtr m_last_laser_scan3D
 
mrpt::obs::CObservation3DRangeScanPtr m_curr_laser_scan3D
 
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 = std::string(80, '-')
 Separator string to be used in debugging messages. More...
 
static const std::string report_sep = std::string(2, '\n')
 

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T >
typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 111 of file CICPCriteriaNRD.h.

◆ decider_t

template<class GRAPH_T >
typedef CICPCriteriaNRD<GRAPH_T> mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::decider_t

self type - Handy typedef

Definition at line 124 of file CICPCriteriaNRD.h.

◆ global_pose_t

template<class GRAPH_T >
typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::global_pose_t

Definition at line 114 of file CICPCriteriaNRD.h.

◆ inf_mat_t

template<class GRAPH_T>
typedef mrpt::math::CMatrixFixedNumeric<double, constraint_t::state_length, constraint_t::state_length> mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::inf_mat_t
inherited

Definition at line 56 of file CNodeRegistrationDecider.h.

◆ InfMat

template<class GRAPH_T >
typedef mrpt::math::CMatrixFixedNumeric<double, constraint_t::state_length, constraint_t::state_length> mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::InfMat

Definition at line 118 of file CICPCriteriaNRD.h.

◆ parent_t

Node Registration Decider.

Definition at line 126 of file CICPCriteriaNRD.h.

◆ pose_t

template<class GRAPH_T >
typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::pose_t

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

Definition at line 113 of file CICPCriteriaNRD.h.

◆ range_ops_t

Typedef for accessing methods of the RangeScanRegistrationDecider parent class.

Definition at line 123 of file CICPCriteriaNRD.h.

Constructor & Destructor Documentation

◆ CICPCriteriaNRD()

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

◆ ~CICPCriteriaNRD()

template<class GRAPH_T >
mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::~CICPCriteriaNRD ( )

Class destructor.

Definition at line 41 of file CICPCriteriaNRD_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >
void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t pose) const
protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note
Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 129 of file CNodeRegistrationDecider_impl.h.

◆ 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 87 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition ( )
protectedvirtual

Check whether a new node should be registered in the graph.

This should be the key-method in any implementation of this interface. Should call registerNewNodeAtEnd method if the registration condition is satisfied.

Returns
True upon successful node registration in the graph

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

Definition at line 234 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg, MRPT_END, MRPT_START, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd(), and mrpt::math::wrapToPi().

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

◆ checkRegistrationCondition2D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D ( )
protected

◆ checkRegistrationCondition3D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition3D ( )
protected

Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information.

See also
checkRegistrationCondition2D

Definition at line 227 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

◆ convert3DTo2DRangeScan()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan ( mrpt::obs::CObservation3DRangeScanPtr &  scan3D_in,
mrpt::obs::CObservation2DRangeScanPtr *  scan2D_out = NULL 
)
protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns
True if operation was successful, false otherwise

Definition at line 139 of file CRangeScanOps_impl.h.

References mrpt::obs::CObservation2DRangeScan::Create(), MRPT_END, and MRPT_START.

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

◆ 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 110 of file CRangeScanOps_impl.h.

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

◆ getClassName()

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

Definition at line 138 of file CRegistrationDeciderOrOptimizer.h.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >
GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const
virtualinherited

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position

Reimplemented in mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >.

Definition at line 134 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport ( std::string report_str) const
virtual

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

Report should include (part of) the following:

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

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

Definition at line 301 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getDescriptiveReport(), mrpt::utils::CTimeLogger::getStatsAsText(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep.

◆ 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 = NULL,
mrpt::slam::CICP::TReturnInfo icp_info = NULL 
)
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 16 of file CRangeScanOps_impl.h.

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

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D().

◆ 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 = NULL,
mrpt::slam::CICP::TReturnInfo icp_info = NULL 
)
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 54 of file CRangeScanOps_impl.h.

References ASSERTMSG_, mrpt::mrpt::format(), mrpt::obs::CObservation3DRangeScan::hasRangeImage, info, mrpt::maps::CMetricMap::insertObservation(), 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::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )
virtualinherited

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 in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 81 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initializeVisuals().

◆ isMultiRobotSlamClass()

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

Definition at line 132 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ loadParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams ( const std::string source_fname)
virtual

Load the necessary for the decider/optimizer configuration parameters.

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

Definition at line 266 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams(), MRPT_END, and MRPT_START.

◆ notifyOfWindowEvents()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::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::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 99 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().

◆ printParams()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CICPCriteriaNRD< 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::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 290 of file CICPCriteriaNRD_impl.h.

References MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams().

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t &  constraint)
protectedinherited

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters
[in]constraintConstraint transformation from the latest registered to the new node.
Returns
True upon successful node registration.

Definition at line 45 of file CNodeRegistrationDecider_impl.h.

◆ registerNewNodeAtEnd() [2/2]

template<class GRAPH_T>
bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )
protectedinherited

Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end.

Definition at line 106 of file CNodeRegistrationDecider_impl.h.

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

◆ resetPDF()

template<class GRAPH_T >
void CNodeRegistrationDecider::resetPDF ( constraint_t c)
protectedinherited

Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix.

Definition at line 116 of file CNodeRegistrationDecider_impl.h.

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

◆ setClassName()

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

Definition at line 52 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( mrpt::synch::CCriticalSection graph_section)
virtualinherited

Fetch a mrpt::synch::CCriticalSection 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 73 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 124 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >.

Definition at line 61 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState ( mrpt::obs::CActionCollectionPtr  action,
mrpt::obs::CSensoryFramePtr  observations,
mrpt::obs::CObservationPtr  observation 
)
virtual

Update the decider state using the latest dataset measurements.

Note
Depending on the observations at hand, update of the state is handled either by updateState2D, or by updateState3D methods. This helps in separating the 2D, 3D RangeScans handling altogether, which in turn simplifies the overall procedure

Order of calls: updateState (calls) ==> updateState2D/3D ==> checkRegistrationCondition2D/3D ==> CheckRegistrationCondition

See also
updateState2D, updateState3D

Implements mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 45 of file CICPCriteriaNRD_impl.h.

References mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::utils::CTimeLogger::enter(), IS_CLASS, mrpt::utils::CTimeLogger::leave(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D().

◆ updateState2D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D ( mrpt::obs::CObservation2DRangeScanPtr  observation)

◆ updateState3D()

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D ( mrpt::obs::CObservation3DRangeScanPtr  observation)

Specialized updateState method used solely when dealing with 3DRangeScan information.

See also
updateState2D

Definition at line 220 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

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

◆ updateVisuals()

template<class GRAPH_T >
void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::updateVisuals ( )
virtualinherited

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 in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 94 of file CRegistrationDeciderOrOptimizer_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateVisuals().

Member Data Documentation

◆ header_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep = std::string(80, '-')
staticprotectedinherited

◆ 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.

◆ 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_curr_laser_scan2D

template<class GRAPH_T >
mrpt::obs::CObservation2DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D
protected

Current LaserScan.

Set during the new measurements acquisition in updateState method

Definition at line 213 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_curr_laser_scan3D

template<class GRAPH_T >
mrpt::obs::CObservation3DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan3D
protected

Definition at line 216 of file CICPCriteriaNRD.h.

◆ m_curr_odometry_only_pose

template<class GRAPH_T >
pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose
protected

pose_t estimation using only odometry information.

Note
Utilized only in observation-only rawlogs.

Definition at line 229 of file CICPCriteriaNRD.h.

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

◆ m_graph

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

◆ m_graph_section

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

◆ m_init_inf_mat

template<class GRAPH_T>
inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat
protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 140 of file CNodeRegistrationDecider.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 >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_is_using_3DScan
protected

◆ m_last_laser_scan2D

template<class GRAPH_T >
mrpt::obs::CObservation2DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan2D
protected

handy laser scans to use in the class methods

2D LaserScan corresponding to the latest registered node in the graph

Definition at line 209 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_last_laser_scan3D

template<class GRAPH_T >
mrpt::obs::CObservation3DRangeScanPtr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan3D
protected

Definition at line 215 of file CICPCriteriaNRD.h.

◆ m_last_odometry_only_pose

template<class GRAPH_T >
pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose
protected

pose_t estimation using only odometry information.

Note
Utilized only in observation-only rawlogs.

Resets next time an ICP edge/Odometry measurement is utilized for updating the estimated robot position.

Definition at line 236 of file CICPCriteriaNRD.h.

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

◆ m_latest_odometry_PDF

template<class GRAPH_T >
constraint_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF
protected

Odometry rigid-body transformation since the last accepted LaserScan.

Decider can use it to smoothen the trajectory in the case of high noise in the laser measurements

Definition at line 224 of file CICPCriteriaNRD.h.

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

◆ m_mahal_distance_ICP_odom

template<class GRAPH_T >
TSlidingWindow mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_mahal_distance_ICP_odom
protected

Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements.

Use the last odometry rigid body transformation instead of the ICP edge if the mahalanobis distance between them is greater than this limit.

Definition at line 244 of file CICPCriteriaNRD.h.

◆ m_prev_registered_nodeID

template<class GRAPH_T>
mrpt::utils::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID
protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 130 of file CNodeRegistrationDecider.h.

◆ m_since_prev_node_PDF

template<class GRAPH_T>
constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF
protectedinherited

Tracking the PDF of the current position of the robot with regards to the <b previous registered node.

Definition at line 134 of file CNodeRegistrationDecider.h.

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

◆ m_time_logger

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::utils::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger
protectedinherited

◆ m_times_used_ICP

template<class GRAPH_T >
int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_ICP
protected

◆ m_times_used_odom

template<class GRAPH_T >
int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_odom
protected

How many times we used the Odometry Edge instead of the ICP edge.

Definition at line 253 of file CICPCriteriaNRD.h.

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

◆ m_use_angle_difference_node_reg

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg
protected

◆ m_use_distance_node_reg

template<class GRAPH_T >
bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg
protected

◆ m_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win
protectedinherited

◆ m_win_manager

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

◆ m_win_observer

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

◆ params

template<class GRAPH_T >
TParams mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::params

Definition at line 184 of file CICPCriteriaNRD.h.

◆ report_sep

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep = std::string(2, '\n')
staticprotectedinherited



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