Detailed Description

An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).

The main entry points for a user are pushAction() and pushObservations(). Several parameters can be modified through m_options.

The mathematical models of this approach have been reported in:

Blanco J.L., Fernandez-Madrigal J.A., and Gonzalez J., "Towards a Unified Bayesian Approach to Hybrid Metric-Topological SLAM", in IEEE Transactions on Robotics (TRO), Vol. 24, No. 2, April 2008.
...

More information in the wiki page: http://www.mrpt.org/HMT-SLAM . A complete working application can be found in "MRPT/apps/hmt-slam".

The complete state of the SLAM framework is serializable, so it can be saved and restore to/from a binary dump. This class implements mrpt::utils::CSerializable, so it can be saved with "stream << slam_object;" and restored with "stream >> slam_object;". Alternatively, the methods CHMTSLAM::saveState and CHMTSLAM::loadState can be invoked, which in turn call internally to the CSerializable interface.

See also: CHierarchicalMHMap

Definition at line 59 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM:

Classes
struct	TMessageLSLAMfromAA
	Message definition: More...

struct	TMessageLSLAMfromTBI
	Message definition: More...

struct	TMessageLSLAMtoTBI
	Message definition: More...

struct	TOptions
	A variety of options and configuration params (private, use loadOptions). More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CHMTSLAM ()
	Default constructor. More...

	CHMTSLAM (const CHMTSLAM &)

const CHMTSLAM &	operator= (const CHMTSLAM &)

virtual	~CHMTSLAM ()
	Destructor. More...

bool	abortedDueToErrors ()
	Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on. More...

void	generateLogFiles (unsigned int nIteration)
	Called from LSLAM thread when log files must be created. More...

void	getAs3DScene (mrpt::opengl::COpenGLScene &outScene)
	Gets a 3D representation of the current state of the whole mapping framework. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

High-level map management
void	loadOptions (const std::string &configFile)
	Loads the options from a config file. More...

void	loadOptions (const mrpt::utils::CConfigFileBase &cfgSource)
	Loads the options from a config source. More...

void	initializeEmptyMap ()
	Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions. More...

bool	saveState (mrpt::utils::CStream &out) const
	Save the state of the whole HMT-SLAM framework to some binary stream (e.g. More...

bool	loadState (mrpt::utils::CStream &in)
	Load the state of the whole HMT-SLAM framework from some binary stream (e.g. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
The important data.
CHierarchicalMHMap	m_map
	The hiearchical, multi-hypothesis graph-based map. More...

aligned_containers< THypothesisID, CLocalMetricHypothesis >::map_t	m_LMHs
	The list of LMHs at each instant. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

HMT-SLAM sub-processes.
void	LSLAM_process_message (const mrpt::utils::CMessage &msg)
	Auxiliary method within thread_LSLAM. More...

void	LSLAM_process_message_from_AA (const TMessageLSLAMfromAA &myMsg)
	No critical section locks are assumed at the entrance of this method. More...

void	LSLAM_process_message_from_TBI (const TMessageLSLAMfromTBI &myMsg)
	No critical section locks are assumed at the entrance of this method. More...

void	perform_TLC (CLocalMetricHypothesis &LMH, const CHMHMapNode::TNodeID areaInLMH, const CHMHMapNode::TNodeID areaLoopClosure, const mrpt::poses::CPose3DPDFGaussian &pose1wrt2)
	Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same. More...

Static Protected Member Functions
static TMessageLSLAMfromAAPtr	areaAbstraction (CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs)
	The Area Abstraction (AA) method, invoked from LSLAM. More...

static TMessageLSLAMfromTBIPtr	TBI_main_method (CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID)
	The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM. More...

static std::string	generateUniqueAreaLabel ()
	Generates a new and unique area textual label (currently this generates "0","1",...) More...

static TPoseID	generatePoseID ()
	Generates a new and unique pose ID. More...

static THypothesisID	generateHypothesisID ()
	Generates a new and unique hypothesis ID. More...

Protected Attributes
bool	m_terminateThreads
	Termination flag for signaling all threads to terminate. More...

bool	m_terminationFlag_LSLAM
	Threads termination flags: More...

bool	m_terminationFlag_TBI

bool	m_terminationFlag_3D_viewer

mrpt::hmtslam::CHMTSLAM::TOptions	m_options

The different SLAM algorithms that can be invoked from the LSLAM thread.
CLSLAMAlgorithmBase *	m_LSLAM_method
	An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState". More...

Static Protected Attributes
static int64_t	m_nextAreaLabel = 0

static TPoseID	m_nextPoseID = 0

static THypothesisID	m_nextHypID = COMMON_TOPOLOG_HYP + 1

Friends
class	CLocalMetricHypothesis

class	CLSLAM_RBPF_2DLASER

class	CTopLCDetector_GridMatching

class	CTopLCDetector_FabMap

RTTI stuff
typedef CHMTSLAMPtr	Ptr

typedef CHMTSLAMPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CHMTSLAM

static mrpt::utils::TRuntimeClassId	classCHMTSLAM

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CHMTSLAMPtr	Create ()

Inter-thread communication queues:
typedef stlplus::smart_ptr< TMessageLSLAMfromAA >	TMessageLSLAMfromAAPtr

typedef stlplus::smart_ptr< TMessageLSLAMtoTBI >	TMessageLSLAMtoTBIPtr

typedef stlplus::smart_ptr< TMessageLSLAMfromTBI >	TMessageLSLAMfromTBIPtr

utils::CMessageQueue	m_LSLAM_queue
	LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA. More...

Related to the input queue:
enum	TLSlamMethod { lsmRBPF_2DLASER = 1 }

std::queue< mrpt::utils::CSerializablePtr >	m_inputQueue
	The queue of pending actions/observations supplied by the user waiting for being processed. More...

synch::CCriticalSection	m_inputQueue_cs
	Critical section for accessing m_inputQueue. More...

synch::CCriticalSection	m_map_cs
	Critical section for accessing m_map. More...

synch::CCriticalSection	m_LMHs_cs
	Critical section for accessing m_LMHs. More...

void	clearInputQueue ()
	Empty the input queue. More...

bool	isInputQueueEmpty ()
	Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More...

size_t	inputQueueSize ()
	Returns the number of objects waiting for processing in the input queue. More...

void	pushAction (const mrpt::obs::CActionCollectionPtr &acts)
	Here the user can enter an action into the system (will go to the SLAM process). More...

void	pushObservations (const mrpt::obs::CSensoryFramePtr &sf)
	Here the user can enter observations into the system (will go to the SLAM process). More...

void	pushObservation (const mrpt::obs::CObservationPtr &obs)
	Here the user can enter an observation into the system (will go to the SLAM process). More...

mrpt::utils::CSerializablePtr	getNextObjectFromInputQueue ()
	Used from the LSLAM thread to retrieve the next object from the queue. More...

Threads stuff
mrpt::system::TThreadHandle	m_hThread_LSLAM
	Threads handles. More...

mrpt::system::TThreadHandle	m_hThread_TBI

mrpt::system::TThreadHandle	m_hThread_3D_viewer

void	thread_LSLAM ()
	The function for the "Local SLAM" thread. More...

void	thread_TBI ()
	The function for the "TBI" thread. More...

void	thread_3D_viewer ()
	The function for the "3D viewer" thread. More...

The different Loop-Closure modules that are to be executed in the TBI thread.
typedef CTopLCDetectorBase (	TLopLCDetectorFactory) (CHMTSLAM *)

std::map< std::string, TLopLCDetectorFactory >	m_registeredLCDetectors

std::deque< CTopLCDetectorBase * >	m_topLCdets
	The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState". More...

synch::CCriticalSection	m_topLCdets_cs
	The critical section for accessing m_topLCdets. More...

void	registerLoopClosureDetector (const std::string &name, CTopLCDetectorBase (ptrCreateObject)(CHMTSLAM *))
	Must be invoked before calling initializeEmptyMap, so LC objects can be created. More...

CTopLCDetectorBase *	loopClosureDetector_factory (const std::string &name)
	The class factory for topological loop closure detectors. More...

Member Typedef Documentation

◆ ConstPtr

typedef CHMTSLAMPtr mrpt::hmtslam::CHMTSLAM::ConstPtr

Definition at line 67 of file CHMTSLAM.h.

◆ Ptr

typedef CHMTSLAMPtr mrpt::hmtslam::CHMTSLAM::Ptr

A typedef for the associated smart pointer

Definition at line 67 of file CHMTSLAM.h.

◆ TLopLCDetectorFactory

typedef CTopLCDetectorBase*(* mrpt::hmtslam::CHMTSLAM::TLopLCDetectorFactory) (CHMTSLAM *)

protected

Definition at line 283 of file CHMTSLAM.h.

◆ TMessageLSLAMfromAAPtr

typedef stlplus::smart_ptr<TMessageLSLAMfromAA> mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAAPtr

protected

Definition at line 97 of file CHMTSLAM.h.

◆ TMessageLSLAMfromTBIPtr

typedef stlplus::smart_ptr<TMessageLSLAMfromTBI> mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBIPtr

protected

Definition at line 141 of file CHMTSLAM.h.

◆ TMessageLSLAMtoTBIPtr

typedef stlplus::smart_ptr<TMessageLSLAMtoTBI> mrpt::hmtslam::CHMTSLAM::TMessageLSLAMtoTBIPtr

protected

Definition at line 109 of file CHMTSLAM.h.

Member Enumeration Documentation

◆ TLSlamMethod

enum mrpt::hmtslam::CHMTSLAM::TLSlamMethod

Enumerator
lsmRBPF_2DLASER

Definition at line 203 of file CHMTSLAM.h.

Constructor & Destructor Documentation

◆ CHMTSLAM() [1/2]

CHMTSLAM::CHMTSLAM ( )

Default constructor.

Parameters

debug_out_stream If debug output messages should be redirected to any other stream apart from std::cout

Definition at line 58 of file CHMTSLAM_main.cpp.

References mrpt::hmtslam::CTopLCDetector_GridMatching::createNewInstance(), mrpt::hmtslam::CTopLCDetector_FabMap::createNewInstance(), mrpt::system::createThreadFromObjectMethod(), initializeEmptyMap(), m_hThread_3D_viewer, m_hThread_LSLAM, m_hThread_TBI, m_LSLAM_method, m_terminateThreads, m_terminationFlag_3D_viewer, m_terminationFlag_LSLAM, m_terminationFlag_TBI, registerLoopClosureDetector(), thread_3D_viewer(), thread_LSLAM(), and thread_TBI().

◆ CHMTSLAM() [2/2]

mrpt::hmtslam::CHMTSLAM::CHMTSLAM ( const CHMTSLAM & )

inline

Definition at line 341 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ ~CHMTSLAM()

CHMTSLAM::~CHMTSLAM ( )

virtual

Destructor.

Definition at line 95 of file CHMTSLAM_main.cpp.

References clearInputQueue(), mrpt::mrpt::format(), mrpt::system::joinThread(), mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR, m_hThread_3D_viewer, m_hThread_LSLAM, m_hThread_TBI, m_LSLAM_method, m_options, m_terminateThreads, m_topLCdets, m_topLCdets_cs, MRPT_LOG_DEBUG, and MRPT_LOG_WARN.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::_GetBaseClass ( )

staticprotected

◆ abortedDueToErrors()

bool CHMTSLAM::abortedDueToErrors ( )

Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on.

Definition at line 557 of file CHMTSLAM_main.cpp.

References m_terminationFlag_3D_viewer, m_terminationFlag_LSLAM, and m_terminationFlag_TBI.

◆ areaAbstraction()

CHMTSLAM::TMessageLSLAMfromAAPtr CHMTSLAM::areaAbstraction	(	CLocalMetricHypothesis *	LMH,
		const TPoseIDList &	newPoseIDs
	)

staticprotected

The Area Abstraction (AA) method, invoked from LSLAM.

Parameters

LMH	(IN) The LMH which to this query applies.
newPoseIDs	(IN) The new poseIDs to be added to the graph partitioner.

Returns: A structure with all return data. Memory to be freed by user.

Note: The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 34 of file CHMTSLAM_AA.cpp.

◆ clearInputQueue()

void CHMTSLAM::clearInputQueue ( )

Empty the input queue.

Definition at line 163 of file CHMTSLAM_main.cpp.

References m_inputQueue, and m_inputQueue_cs.

Referenced by ~CHMTSLAM().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

static CHMTSLAMPtr mrpt::hmtslam::CHMTSLAM::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::hmtslam::CHMTSLAM::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMTSLAM::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ generateHypothesisID()

THypothesisID CHMTSLAM::generateHypothesisID ( )

staticprotected

Generates a new and unique hypothesis ID.

Definition at line 539 of file CHMTSLAM_main.cpp.

References m_nextHypID.

Referenced by initializeEmptyMap().

◆ generateLogFiles()

void CHMTSLAM::generateLogFiles ( unsigned int nIteration )

Called from LSLAM thread when log files must be created.

Definition at line 39 of file CHMTSLAM_LOG.cpp.

◆ generatePoseID()

TPoseID CHMTSLAM::generatePoseID ( )

staticprotected

Generates a new and unique pose ID.

Definition at line 531 of file CHMTSLAM_main.cpp.

References m_nextPoseID.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

◆ generateUniqueAreaLabel()

std::string CHMTSLAM::generateUniqueAreaLabel ( )

staticprotected

Generates a new and unique area textual label (currently this generates "0","1",...)

Definition at line 523 of file CHMTSLAM_main.cpp.

References mrpt::format(), and m_nextAreaLabel.

Referenced by initializeEmptyMap().

◆ getAs3DScene()

void CHMTSLAM::getAs3DScene ( mrpt::opengl::COpenGLScene & outScene )

Gets a 3D representation of the current state of the whole mapping framework.

Definition at line 548 of file CHMTSLAM_main.cpp.

References MRPT_UNUSED_PARAM.

◆ getNextObjectFromInputQueue()

CSerializablePtr CHMTSLAM::getNextObjectFromInputQueue ( )

protected

Used from the LSLAM thread to retrieve the next object from the queue.

Returns: The object, or NULL if empty.

Definition at line 393 of file CHMTSLAM_main.cpp.

References m_inputQueue, and m_inputQueue_cs.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ initializeEmptyMap()

void CHMTSLAM::initializeEmptyMap ( )

Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions.

Definition at line 411 of file CHMTSLAM_main.cpp.

References mrpt::utils::CThreadSafeQueue< T >::clear(), mrpt::hmtslam::CHierarchicalMHMap::clear(), mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses(), CLSLAM_RBPF_2DLASER, COMMON_TOPOLOG_HYP, mrpt::hmtslam::CHMHMapNode::Create(), mrpt::system::createDirectory(), mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers, mrpt::system::deleteFilesInDirectory(), generateHypothesisID(), generateUniqueAreaLabel(), mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR, loopClosureDetector_factory(), lsmRBPF_2DLASER, mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, m_LMHs, m_LMHs_cs, mrpt::hmtslam::CLocalMetricHypothesis::m_log_w, m_LSLAM_method, m_LSLAM_queue, m_map, m_map_cs, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, m_options, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, m_topLCdets, m_topLCdets_cs, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_REF_POSEID, POSEID_INVALID, mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD, THROW_EXCEPTION_FMT, and mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors.

Referenced by CHMTSLAM().

◆ inputQueueSize()

size_t CHMTSLAM::inputQueueSize ( )

Returns the number of objects waiting for processing in the input queue.

See also: pushAction,pushObservations, isInputQueueEmpty

Definition at line 380 of file CHMTSLAM_main.cpp.

References m_inputQueue, and m_inputQueue_cs.

◆ isInputQueueEmpty()

bool CHMTSLAM::isInputQueueEmpty ( )

Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)

See also: pushAction,pushObservations, inputQueueSize

Definition at line 366 of file CHMTSLAM_main.cpp.

References m_inputQueue, and m_inputQueue_cs.

◆ loadOptions() [1/2]

void CHMTSLAM::loadOptions ( const std::string & configFile )

Loads the options from a config file.

Definition at line 260 of file CHMTSLAM_main.cpp.

References ASSERT_, and mrpt::system::fileExists().

◆ loadOptions() [2/2]

void CHMTSLAM::loadOptions ( const mrpt::utils::CConfigFileBase & cfgSource )

Loads the options from a config source.

Definition at line 238 of file CHMTSLAM_main.cpp.

References mrpt::hmtslam::CHMTSLAM::TOptions::AA_options, mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers, mrpt::utils::CLoadableOptions::dumpToConsole(), mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params, mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile(), mrpt::hmtslam::CTopLCDetector_FabMap::TOptions::loadFromConfigFile(), mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions::loadFromConfigFile(), mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile(), mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile(), m_options, mrpt::hmtslam::CHMTSLAM::TOptions::pf_options, mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options, and mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options.

◆ loadState()

bool CHMTSLAM::loadState ( mrpt::utils::CStream & in )

Load the state of the whole HMT-SLAM framework from some binary stream (e.g.

a file).

Returns: true if everything goes OK.

See also: saveState

Definition at line 609 of file CHMTSLAM_main.cpp.

◆ loopClosureDetector_factory()

CTopLCDetectorBase * CHMTSLAM::loopClosureDetector_factory ( const std::string & name )

The class factory for topological loop closure detectors.

Possible values are enumerated in TOptions::TLC_detectors

Exceptions

std::exception On unknown name.

Definition at line 578 of file CHMTSLAM_main.cpp.

References m_registeredLCDetectors, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by initializeEmptyMap().

◆ LSLAM_process_message()

void CHMTSLAM::LSLAM_process_message ( const mrpt::utils::CMessage & msg )

protected

Auxiliary method within thread_LSLAM.

Definition at line 249 of file CHMTSLAM_LSLAM.cpp.

References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ LSLAM_process_message_from_AA()

void CHMTSLAM::LSLAM_process_message_from_AA ( const TMessageLSLAMfromAA & myMsg )

protected

No critical section locks are assumed at the entrance of this method.

Definition at line 278 of file CHMTSLAM_LSLAM.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, AREAID_INVALID, ASSERT_, begin(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::opengl::CSetOfObjects::Create(), DEG2RAD, mrpt::poses::CPose3D::distanceEuclidean6D(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::distanceTo(), mrpt::opengl::COpenGLScene::enableFollowCamera(), mrpt::utils::erase_return_next(), mrpt::utils::list_searchable< T >::find(), mrpt::format(), mrpt::poses::CPose3DPDFGaussian::getMean(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA::hypothesisID, mrpt::utils::list_searchable< T >::insert(), mrpt::opengl::COpenGLScene::insert(), mrpt::obs::CSensoryFrame::insert(), mrpt::obs::CSensoryFrame::insertObservationsInto(), mrpt::poses::CPose3DPDFGaussian::inverse(), mrpt::bayes::CParticleFilterData< T >::m_particles, mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA::partitions, mrpt::hmtslam::TPoseInfo::pdf, POSEID_INVALID, RAD2DEG, mrpt::hmtslam::TPoseInfo::sf, mrpt::math::square(), mrpt::utils::CTicTac::Tac(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::utils::CTicTac::Tic(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

◆ LSLAM_process_message_from_TBI()

void CHMTSLAM::LSLAM_process_message_from_TBI ( const TMessageLSLAMfromTBI & myMsg )

protected

No critical section locks are assumed at the entrance of this method.

Definition at line 1477 of file CHMTSLAM_LSLAM.cpp.

References ASSERT_, mrpt::math::chi2inv(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::cur_area, DEG2RAD, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::hypothesisID, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::loopClosureData, mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::system::pause(), RAD2DEG, mrpt::math::square(), mrpt::utils::CTicTac::Tac(), and mrpt::utils::CTicTac::Tic().

◆ operator delete() [1/3]

void mrpt::hmtslam::CHMTSLAM::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator delete() [2/3]

void mrpt::hmtslam::CHMTSLAM::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator delete() [3/3]

void mrpt::hmtslam::CHMTSLAM::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator delete[]()

void mrpt::hmtslam::CHMTSLAM::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator new() [1/3]

void* mrpt::hmtslam::CHMTSLAM::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator new() [2/3]

static void* mrpt::hmtslam::CHMTSLAM::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 67 of file CHMTSLAM.h.

◆ operator new() [3/3]

void* mrpt::hmtslam::CHMTSLAM::operator new ( size_t size )

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator new[]()

void* mrpt::hmtslam::CHMTSLAM::operator new[] ( size_t size )

inline

Definition at line 67 of file CHMTSLAM.h.

◆ operator=()

const CHMTSLAM& mrpt::hmtslam::CHMTSLAM::operator= ( const CHMTSLAM & )

inline

Definition at line 342 of file CHMTSLAM.h.

References THROW_EXCEPTION.

◆ perform_TLC()

void CHMTSLAM::perform_TLC	(	CLocalMetricHypothesis &	LMH,
		const CHMHMapNode::TNodeID	areaInLMH,
		const CHMHMapNode::TNodeID	areaLoopClosure,
		const mrpt::poses::CPose3DPDFGaussian &	pose1wrt2
	)

protected

Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same.

Definition at line 36 of file CHMTSLAM_perform_TLC.cpp.

◆ pushAction()

void CHMTSLAM::pushAction ( const mrpt::obs::CActionCollectionPtr & acts )

Here the user can enter an action into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushObservations,pushObservation

Definition at line 181 of file CHMTSLAM_main.cpp.

References m_inputQueue, m_inputQueue_cs, and m_terminateThreads.

◆ pushObservation()

void CHMTSLAM::pushObservation ( const mrpt::obs::CObservationPtr & obs )

Here the user can enter an observation into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushAction,pushObservation

Definition at line 217 of file CHMTSLAM_main.cpp.

References m_inputQueue, m_inputQueue_cs, and m_terminateThreads.

◆ pushObservations()

void CHMTSLAM::pushObservations ( const mrpt::obs::CSensoryFramePtr & sf )

Here the user can enter observations into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also: pushAction,pushObservation

Definition at line 199 of file CHMTSLAM_main.cpp.

References m_inputQueue, m_inputQueue_cs, and m_terminateThreads.

◆ readFromStream()

void CHMTSLAM::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 625 of file CHMTSLAM_main.cpp.

References m_LMHs, m_map, m_map_cs, m_nextAreaLabel, m_nextHypID, m_nextPoseID, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ registerLoopClosureDetector()

void CHMTSLAM::registerLoopClosureDetector	(	const std::string &	name,
		CTopLCDetectorBase ()(CHMTSLAM *)	ptrCreateObject
	)

Must be invoked before calling initializeEmptyMap, so LC objects can be created.

Definition at line 567 of file CHMTSLAM_main.cpp.

References m_registeredLCDetectors.

Referenced by CHMTSLAM().

◆ saveState()

bool CHMTSLAM::saveState ( mrpt::utils::CStream & out ) const

Save the state of the whole HMT-SLAM framework to some binary stream (e.g.

a file).

Returns: true if everything goes OK.

See also: loadState

Definition at line 593 of file CHMTSLAM_main.cpp.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ TBI_main_method()

CHMTSLAM::TMessageLSLAMfromTBIPtr CHMTSLAM::TBI_main_method	(	CLocalMetricHypothesis *	LMH,
		const CHMHMapNode::TNodeID &	areaID
	)

staticprotected

The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.

Parameters

LMH	(IN) The LMH which to this query applies.
areaID	(IN) The area ID to consider for potential loop-closures.

Note: The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).

Definition at line 104 of file CHMTSLAM_TBI.cpp.

References ASSERT_, mrpt::poses::CPose3DPDFSOG::clear(), mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::delta_new_cur, IS_CLASS, mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info::log_lik, mrpt::hmtslam::CLocalMetricHypothesis::m_ID, mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors, mrpt::hmtslam::CLocalMetricHypothesis::m_parent, MRPT_END, MRPT_START, and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ thread_3D_viewer()

void CHMTSLAM::thread_3D_viewer ( )

protected

The function for the "3D viewer" thread.

Definition at line 28 of file CHMTSLAM_3D_viewer.cpp.

References mrpt::system::getCurrentThreadId(), mrpt::system::getCurrentThreadTimes(), and mrpt::system::sleep().

Referenced by CHMTSLAM().

◆ thread_LSLAM()

void CHMTSLAM::thread_LSLAM ( )

protected

The function for the "Local SLAM" thread.

Definition at line 44 of file CHMTSLAM_LSLAM.cpp.

References ASSERT_, CLASS_ID, mrpt::system::getCurrentThreadId(), mrpt::system::getCurrentThreadTimes(), mrpt::random::randomGenerator, mrpt::random::CRandomGenerator::randomize(), mrpt::system::sleep(), mrpt::utils::CTicTac::Tac(), THROW_EXCEPTION, and mrpt::utils::CTicTac::Tic().

Referenced by CHMTSLAM().

◆ thread_TBI()

void CHMTSLAM::thread_TBI ( )

protected

The function for the "TBI" thread.

Definition at line 32 of file CHMTSLAM_TBI.cpp.

References mrpt::system::getCurrentThreadId(), mrpt::system::getCurrentThreadTimes(), mrpt::random::randomGenerator, mrpt::random::CRandomGenerator::randomize(), and mrpt::system::sleep().

Referenced by CHMTSLAM().

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CHMTSLAM::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 667 of file CHMTSLAM_main.cpp.

References m_LMHs, m_map, m_map_cs, m_nextAreaLabel, m_nextHypID, m_nextPoseID, and version.

Friends And Related Function Documentation

◆ CLocalMetricHypothesis

friend class CLocalMetricHypothesis

friend

Definition at line 61 of file CHMTSLAM.h.

◆ CLSLAM_RBPF_2DLASER

friend class CLSLAM_RBPF_2DLASER

friend

Definition at line 62 of file CHMTSLAM.h.

Referenced by initializeEmptyMap().

◆ CTopLCDetector_FabMap

friend class CTopLCDetector_FabMap

friend

Definition at line 64 of file CHMTSLAM.h.

◆ CTopLCDetector_GridMatching

friend class CTopLCDetector_GridMatching

friend

Definition at line 63 of file CHMTSLAM.h.

Member Data Documentation

◆ _init_CHMTSLAM

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMTSLAM::_init_CHMTSLAM

staticprotected

Definition at line 67 of file CHMTSLAM.h.

◆ classCHMTSLAM

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMTSLAM::classCHMTSLAM

static

Definition at line 67 of file CHMTSLAM.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 128 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::classinfo

static

Definition at line 67 of file CHMTSLAM.h.

◆ m_hThread_3D_viewer

mrpt::system::TThreadHandle mrpt::hmtslam::CHMTSLAM::m_hThread_3D_viewer

protected

Definition at line 240 of file CHMTSLAM.h.

Referenced by CHMTSLAM(), and ~CHMTSLAM().

◆ m_hThread_LSLAM

mrpt::system::TThreadHandle mrpt::hmtslam::CHMTSLAM::m_hThread_LSLAM

protected

Threads handles.

Definition at line 240 of file CHMTSLAM.h.

Referenced by CHMTSLAM(), and ~CHMTSLAM().

◆ m_hThread_TBI

mrpt::system::TThreadHandle mrpt::hmtslam::CHMTSLAM::m_hThread_TBI

protected

Definition at line 240 of file CHMTSLAM.h.

Referenced by CHMTSLAM(), and ~CHMTSLAM().

◆ m_inputQueue

std::queue<mrpt::utils::CSerializablePtr> mrpt::hmtslam::CHMTSLAM::m_inputQueue

protected

The queue of pending actions/observations supplied by the user waiting for being processed.

Definition at line 215 of file CHMTSLAM.h.

Referenced by clearInputQueue(), getNextObjectFromInputQueue(), inputQueueSize(), isInputQueueEmpty(), pushAction(), pushObservation(), and pushObservations().

◆ m_inputQueue_cs

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs

protected

Critical section for accessing m_inputQueue.

Definition at line 218 of file CHMTSLAM.h.

Referenced by clearInputQueue(), getNextObjectFromInputQueue(), inputQueueSize(), isInputQueueEmpty(), pushAction(), pushObservation(), and pushObservations().

◆ m_LMHs

aligned_containers<THypothesisID, CLocalMetricHypothesis>::map_t mrpt::hmtslam::CHMTSLAM::m_LMHs

The list of LMHs at each instant.

Definition at line 380 of file CHMTSLAM.h.

Referenced by initializeEmptyMap(), readFromStream(), and writeToStream().

◆ m_LMHs_cs

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_LMHs_cs

protected

Critical section for accessing m_LMHs.

Definition at line 223 of file CHMTSLAM.h.

Referenced by initializeEmptyMap().

◆ m_LSLAM_method

CLSLAMAlgorithmBase* mrpt::hmtslam::CHMTSLAM::m_LSLAM_method

protected

An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".

Definition at line 275 of file CHMTSLAM.h.

Referenced by CHMTSLAM(), initializeEmptyMap(), and ~CHMTSLAM().

◆ m_LSLAM_queue

utils::CMessageQueue mrpt::hmtslam::CHMTSLAM::m_LSLAM_queue

protected

LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.

Definition at line 144 of file CHMTSLAM.h.

Referenced by initializeEmptyMap().

◆ m_map

CHierarchicalMHMap mrpt::hmtslam::CHMTSLAM::m_map

The hiearchical, multi-hypothesis graph-based map.

Definition at line 379 of file CHMTSLAM.h.

Referenced by initializeEmptyMap(), readFromStream(), and writeToStream().

◆ m_map_cs

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_map_cs

protected

Critical section for accessing m_map.

Definition at line 221 of file CHMTSLAM.h.

Referenced by initializeEmptyMap(), readFromStream(), and writeToStream().

◆ m_nextAreaLabel

int64_t CHMTSLAM::m_nextAreaLabel = 0

staticprotected

Definition at line 330 of file CHMTSLAM.h.

Referenced by generateUniqueAreaLabel(), readFromStream(), and writeToStream().

◆ m_nextHypID

THypothesisID CHMTSLAM::m_nextHypID = COMMON_TOPOLOG_HYP + 1

staticprotected

Definition at line 332 of file CHMTSLAM.h.

Referenced by generateHypothesisID(), readFromStream(), and writeToStream().

◆ m_nextPoseID

TPoseID CHMTSLAM::m_nextPoseID = 0

staticprotected

Definition at line 331 of file CHMTSLAM.h.

Referenced by generatePoseID(), readFromStream(), and writeToStream().

◆ m_options

mrpt::hmtslam::CHMTSLAM::TOptions mrpt::hmtslam::CHMTSLAM::m_options

protected

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap(), initializeEmptyMap(), loadOptions(), and ~CHMTSLAM().

◆ m_registeredLCDetectors

std::map<std::string,TLopLCDetectorFactory> mrpt::hmtslam::CHMTSLAM::m_registeredLCDetectors

protected

Definition at line 285 of file CHMTSLAM.h.

Referenced by loopClosureDetector_factory(), and registerLoopClosureDetector().

◆ m_terminateThreads

bool mrpt::hmtslam::CHMTSLAM::m_terminateThreads

protected

Termination flag for signaling all threads to terminate.

Definition at line 313 of file CHMTSLAM.h.

Referenced by CHMTSLAM(), pushAction(), pushObservation(), pushObservations(), and ~CHMTSLAM().

◆ m_terminationFlag_3D_viewer

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_3D_viewer

protected

Definition at line 317 of file CHMTSLAM.h.

Referenced by abortedDueToErrors(), and CHMTSLAM().

◆ m_terminationFlag_LSLAM

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_LSLAM

protected

Threads termination flags:

Definition at line 317 of file CHMTSLAM.h.

Referenced by abortedDueToErrors(), and CHMTSLAM().

◆ m_terminationFlag_TBI

bool mrpt::hmtslam::CHMTSLAM::m_terminationFlag_TBI

protected

Definition at line 317 of file CHMTSLAM.h.

Referenced by abortedDueToErrors(), and CHMTSLAM().

◆ m_topLCdets

std::deque<CTopLCDetectorBase*> mrpt::hmtslam::CHMTSLAM::m_topLCdets

protected

The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".

Definition at line 288 of file CHMTSLAM.h.

Referenced by initializeEmptyMap(), and ~CHMTSLAM().

◆ m_topLCdets_cs

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_topLCdets_cs

protected

The critical section for accessing m_topLCdets.

Definition at line 291 of file CHMTSLAM.h.

Referenced by initializeEmptyMap(), and ~CHMTSLAM().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

RTTI stuff

Inter-thread communication queues:

Related to the input queue:

Threads stuff

The different Loop-Closure modules that are to be executed in the TBI thread.

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TLopLCDetectorFactory

◆ TMessageLSLAMfromAAPtr

◆ TMessageLSLAMfromTBIPtr

◆ TMessageLSLAMtoTBIPtr

Member Enumeration Documentation

◆ TLSlamMethod

Constructor & Destructor Documentation

◆ CHMTSLAM() [1/2]

◆ CHMTSLAM() [2/2]

◆ ~CHMTSLAM()

Member Function Documentation

◆ _GetBaseClass()

◆ abortedDueToErrors()

◆ areaAbstraction()

◆ clearInputQueue()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ generateHypothesisID()

◆ generateLogFiles()

◆ generatePoseID()

◆ generateUniqueAreaLabel()

◆ getAs3DScene()

◆ getNextObjectFromInputQueue()

◆ GetRuntimeClass()

◆ initializeEmptyMap()

◆ inputQueueSize()

◆ isInputQueueEmpty()

◆ loadOptions() [1/2]

◆ loadOptions() [2/2]

◆ loadState()

◆ loopClosureDetector_factory()

◆ LSLAM_process_message()

◆ LSLAM_process_message_from_AA()

◆ LSLAM_process_message_from_TBI()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ operator=()

◆ perform_TLC()

◆ pushAction()

◆ pushObservation()

◆ pushObservations()

◆ readFromStream()

◆ registerLoopClosureDetector()

◆ saveState()

◆ TBI_main_method()

◆ thread_3D_viewer()

◆ thread_LSLAM()

◆ thread_TBI()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ CLocalMetricHypothesis