Detailed Description

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

Edge Registration Decider Interface from which RangeScanner-based ERDs can inherit from.

Holds common vars for the underlying classesand provides methods for accessing and modifying them.

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

Definition at line 22 of file CRangeScanEdgeRegistrationDecider.h.

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

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

Public Types
typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >	parent_t

typedef mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >	range_ops_t
	Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class. More...

typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	nodes_to_scans2D_t


typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >	parent
	Handy typedefs. More...

typedef GRAPH_T::constraint_t	constraint_t
	type of graph constraints More...

typedef GRAPH_T::constraint_t::type_value	pose_t
	type of underlying poses (2D/3D). More...

Public Member Functions
	CRangeScanEdgeRegistrationDecider ()

	~CRangeScanEdgeRegistrationDecider ()

virtual bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
	Generic method for fetching the incremental action/observation readings from the calling function. More...

virtual void	getEdgesStats (std::map< std::string, int > *edge_type_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...

virtual bool	justInsertedLoopClosure () const
	Used by the caller to query for possible loop closures in the last edge registration procedure. 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	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

Protected Member Functions
virtual 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...

virtual void	printParams () const
	Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More...

virtual void	registerNewEdge (const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to, const constraint_t &rel_edge)
	Register a new constraint/edge in the current graph. More...

virtual void	assertVisualsVars ()
	Handy function for making all the visuals assertions in a compact manner. More...

void	getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t rel_edge, const mrpt::poses::CPose2D initial_pose=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...

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::utils::TNodeID from, mrpt::utils::TNodeID to)

virtual void	checkRegistrationCondition (const std::set< mrpt::utils::TNodeID > &)

Protected Attributes
nodes_to_scans2D_t	m_nodes_to_laser_scans2D
	Map for keeping track of the observation recorded at each graph position. More...

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...

mrpt::synch::CCriticalSection *	m_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...

TParams	params

Visuals-related variables methods
mrpt::graphslam::CWindowManager *	m_win_manager
	Pointer to the CWindowManager object used to store visuals-related instances. More...

mrpt::gui::CDisplayWindow3D *	m_win
	Window to use. More...

mrpt::graphslam::CWindowObserver *	m_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 = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef GRAPH_T::constraint_t mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::constraint_t

inherited

type of graph constraints

Definition at line 51 of file CEdgeRegistrationDecider.h.

◆ nodes_to_scans2D_t

template<class GRAPH_T >

typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr> mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::nodes_to_scans2D_t

Definition at line 36 of file CRangeScanEdgeRegistrationDecider.h.

◆ parent

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

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent

inherited

Handy typedefs.

Parent of current class

Definition at line 49 of file CEdgeRegistrationDecider.h.

◆ parent_t

template<class GRAPH_T >

typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider<GRAPH_T> mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::parent_t

Definition at line 28 of file CRangeScanEdgeRegistrationDecider.h.

◆ pose_t

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

typedef GRAPH_T::constraint_t::type_value mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::pose_t

inherited

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

Definition at line 53 of file CEdgeRegistrationDecider.h.

◆ range_ops_t

template<class GRAPH_T >

typedef mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T> mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::range_ops_t

Typedef for accessing methods of the RangeScanRegistrationDecider_t parent class.

Definition at line 33 of file CRangeScanEdgeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CRangeScanEdgeRegistrationDecider()

template<class GRAPH_T >

mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::CRangeScanEdgeRegistrationDecider ( )

Definition at line 7 of file CRangeScanEdgeRegistrationDecider_impl.h.

◆ ~CRangeScanEdgeRegistrationDecider()

template<class GRAPH_T >

mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::~CRangeScanEdgeRegistrationDecider ( )

Definition at line 11 of file CRangeScanEdgeRegistrationDecider_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 87 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition() [1/2]

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

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition	(	mrpt::utils::TNodeID	from,
		mrpt::utils::TNodeID	to
	)

inlineprotectedvirtualinherited

Definition at line 92 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::utils::TNodeID > & )

inlineprotectedvirtualinherited

Definition at line 95 of file CEdgeRegistrationDecider.h.

◆ 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.

◆ getDescriptiveReport()

template<class GRAPH_T >

void CEdgeRegistrationDecider::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 from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

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

Definition at line 23 of file CEdgeRegistrationDecider_impl.h.

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

◆ getEdgesStats()

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

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

inlinevirtualinherited

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

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

Definition at line 74 of file CEdgeRegistrationDecider.h.

◆ 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

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

Definition at line 38 of file CRegistrationDeciderOrOptimizer_impl.h.

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

◆ 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::exception If 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.

◆ 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 79 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams ( const std::string & source_fname )

protectedvirtual

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

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

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

Definition at line 14 of file CRangeScanEdgeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

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

◆ 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::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams ( ) const

protectedvirtual

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

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

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

Definition at line 26 of file CRangeScanEdgeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

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

◆ registerNewEdge()

template<class GRAPH_T >

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

protectedvirtualinherited

Register a new constraint/edge in the current graph.

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

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >.

Definition at line 32 of file CEdgeRegistrationDecider_impl.h.

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

◆ 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 = typename mrpt::graphs::CNetworkOfPoses2DInf>

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

pure virtualinherited

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::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Implemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, and mrpt::graphslam::deciders::CEmptyERD< GRAPH_T >.

◆ updateVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::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::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

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(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), and mrpt::graphslam::optimizers::CLevMarqGSO< 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.

◆ 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_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>

mrpt::synch::CCriticalSection* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section

protectedinherited

Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::optimizeGraph().

◆ 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_just_inserted_lc

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

bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc

protectedinherited

Definition at line 108 of file CEdgeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >::justInsertedLoopClosure(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState().

◆ m_last_total_num_nodes

template<class GRAPH_T >

size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes

protected

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

Definition at line 65 of file CRangeScanEdgeRegistrationDecider.h.

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

◆ m_nodes_to_laser_scans2D

template<class GRAPH_T >

nodes_to_scans2D_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_nodes_to_laser_scans2D

protected

Map for keeping track of the observation recorded at each graph position.

Definition at line 61 of file CRangeScanEdgeRegistrationDecider.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 115 of file CEdgeRegistrationDecider.h.

◆ m_time_logger

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

mrpt::utils::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger

protectedinherited

Time logger instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getDescriptiveReport(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

◆ 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.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::fitGraphInView(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::toggleOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

◆ 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.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initGraphVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization().

◆ 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.

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

◆ params

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

TParams mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::params

protectedinherited

Definition at line 155 of file CRangeScanOps.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

Definition at line 176 of file CRegistrationDeciderOrOptimizer.h.

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

Detailed Description

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Member Typedef Documentation

◆ constraint_t

◆ nodes_to_scans2D_t

◆ parent

◆ parent_t

◆ pose_t

◆ range_ops_t

Constructor & Destructor Documentation

◆ CRangeScanEdgeRegistrationDecider()

◆ ~CRangeScanEdgeRegistrationDecider()

Member Function Documentation

◆ assertVisualsVars()

◆ checkRegistrationCondition() [1/2]

◆ checkRegistrationCondition() [2/2]

◆ convert3DTo2DRangeScan()

◆ decimatePointsMap()

◆ getClassName()

◆ getDescriptiveReport()

◆ getEdgesStats()

◆ getICPEdge() [1/2]

◆ getICPEdge() [2/2]

◆ initializeLoggers()

◆ initializeVisuals()

◆ isMultiRobotSlamClass()

◆ justInsertedLoopClosure()

◆ loadParams()

◆ notifyOfWindowEvents()

◆ printParams()

◆ registerNewEdge()

◆ setClassName()

◆ setCriticalSectionPtr()

◆ setGraphPtr()

◆ setWindowManagerPtr()

◆ updateState()

◆ updateVisuals()

Member Data Documentation

◆ header_sep

◆ is_mr_slam_class

◆ m_class_name

◆ m_graph

◆ m_graph_section

◆ m_initialized_visuals

◆ m_just_inserted_lc

◆ m_last_total_num_nodes

◆ m_nodes_to_laser_scans2D

◆ m_override_registered_nodes_check

◆ m_time_logger

◆ m_win

◆ m_win_manager

◆ m_win_observer

◆ params

◆ report_sep

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