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mrpt::slam::CMetricMapBuilder Class Referenceabstract

Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See Also
CMetricMap

Definition at line 35 of file CMetricMapBuilder.h.

#include <mrpt/slam/CMetricMapBuilder.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilder:
Inheritance graph

Classes

struct  TOptions
 Options for the algorithm. More...
 

Public Member Functions

 CMetricMapBuilder ()
 Constructor. More...
 
virtual ~CMetricMapBuilder ()
 Destructor. More...
 
void clear ()
 Clear all elements of the maps, and reset localization to (0,0,0deg). More...
 
void enableMapUpdating (bool enable)
 Enables or disables the map updating (default state is enabled) More...
 
void loadCurrentMapFromFile (const std::string &fileName)
 Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
 
void saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
 Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...
 
Pure virtual methods to implement in any particular SLAM algorithm
virtual void initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL)=0
 Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. More...
 
virtual mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation () const =0
 Returns a copy of the current best pose estimation as a pose PDF. More...
 
virtual void processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)=0
 Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description. More...
 
virtual void getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const =0
 Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
 
virtual unsigned int getCurrentlyBuiltMapSize ()=0
 Returns just how many sensory-frames are stored in the currently build map. More...
 
virtual const
mrpt::maps::CMultiMetricMap
getCurrentlyBuiltMetricMap () const =0
 Returns the map built so far. More...
 
virtual void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)=0
 A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
 

Public Attributes

TOptions options
 

Protected Member Functions

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

Protected Attributes

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

Constructor & Destructor Documentation

CMetricMapBuilder::CMetricMapBuilder ( )

Constructor.

Definition at line 26 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

CMetricMapBuilder::~CMetricMapBuilder ( )
virtual

Destructor.

Definition at line 33 of file CMetricMapBuilder.cpp.

References MRPT_LOG_DEBUG.

Member Function Documentation

void CMetricMapBuilder::clear ( )

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

Definition at line 42 of file CMetricMapBuilder.cpp.

References initialize(), and MRPT_LOG_DEBUG.

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

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

Definition at line 88 of file CMetricMapBuilder.h.

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

Enter critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap out_map) const
pure virtual

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by saveCurrentMapToFile().

virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize ( )
pure virtual

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual const mrpt::maps::CMultiMetricMap* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap ( ) const
pure virtual

Returns the map built so far.

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual mrpt::poses::CPose3DPDFPtr mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation ( ) const
pure virtual

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual void mrpt::slam::CMetricMapBuilder::initialize ( const mrpt::maps::CSimpleMap initialMap = mrpt::maps::CSimpleMap(),
mrpt::poses::CPosePDF x0 = NULL 
)
pure virtual

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

Referenced by clear(), and loadCurrentMapFromFile().

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

Leave critical section for map updating.

Definition at line 42 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints(), and mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP().

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string fileName)
virtual void mrpt::slam::CMetricMapBuilder::processActionObservation ( mrpt::obs::CActionCollection action,
mrpt::obs::CSensoryFrame observations 
)
pure virtual

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

Parameters
actionThe estimation of the incremental pose change in the robot pose.
observationsThe set of observations that robot senses at the new pose.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

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

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

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

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

void CMetricMapBuilder::saveCurrentMapToFile ( const std::string fileName,
bool  compressGZ = true 
) const

Member Data Documentation

mrpt::synch::CCriticalSection mrpt::slam::CMetricMapBuilder::critZoneChangingMap
protected
TOptions mrpt::slam::CMetricMapBuilder::options



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