Detailed Description
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >
Empty Node Registration Decider.
Handy when you are testing other parts of the application but not the specific registration procedure
Definition at line 29 of file CEmptyNRD.h.
#include <mrpt/graphslam/NRD/CEmptyNRD.h>
Public Types | |
| typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > | parent_t |
| Handy typedefs. More... | |
| typedef GRAPH_T::constraint_t | constraint_t |
| type of graph constraints More... | |
| typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length > | inf_mat_t |
Public Member Functions | |
| CEmptyNRD () | |
| ~CEmptyNRD () | |
| bool | updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation) |
| Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function. More... | |
| global_pose_t | getCurrentRobotPosEstimation () const |
| Getter method for fetching the currently estimated robot position. 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 | loadParams (const std::string &source_fname) |
| Load the necessary for the decider/optimizer configuration parameters. 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 | 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 | |
| void | resetPDF (constraint_t *c) |
| Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More... | |
| virtual bool | checkRegistrationCondition () |
| Check whether a new node should be registered in the graph. More... | |
| virtual void | assertVisualsVars () |
| Handy function for making all the visuals assertions in a compact manner. 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 | |
| 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::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... | |
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') |
Private Types | |
| typedef GRAPH_T::constraint_t::type_value | pose_t |
| Handy typedefs. More... | |
| typedef GRAPH_T::global_pose_t | global_pose_t |
Private Member Functions | |
| void | registerNewNode () |
Member Typedef Documentation
◆ constraint_t
|
inherited |
type of graph constraints
Definition at line 50 of file CNodeRegistrationDecider.h.
◆ global_pose_t
|
private |
Definition at line 35 of file CEmptyNRD.h.
◆ inf_mat_t
|
inherited |
Definition at line 56 of file CNodeRegistrationDecider.h.
◆ parent_t
|
inherited |
◆ pose_t
|
private |
Handy typedefs.
Definition at line 34 of file CEmptyNRD.h.
Constructor & Destructor Documentation
◆ CEmptyNRD()
| mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >::CEmptyNRD | ( | ) |
Definition at line 54 of file CEmptyNRD.h.
◆ ~CEmptyNRD()
| mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >::~CEmptyNRD | ( | ) |
Definition at line 56 of file CEmptyNRD.h.
Member Function Documentation
◆ addNodeAnnotsToPose()
|
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()
|
protectedvirtualinherited |
Handy function for making all the visuals assertions in a compact manner.
Definition at line 87 of file CRegistrationDeciderOrOptimizer_impl.h.
◆ checkRegistrationCondition()
|
protectedvirtualinherited |
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 in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >.
Definition at line 42 of file CNodeRegistrationDecider_impl.h.
◆ getClassName()
|
inlineinherited |
Definition at line 138 of file CRegistrationDeciderOrOptimizer.h.
◆ getCurrentRobotPosEstimation()
|
virtual |
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 from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.
Definition at line 69 of file CEmptyNRD.h.
◆ getDescriptiveReport()
|
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::CICPCriteriaNRD< GRAPH_T >, and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >.
Definition at line 28 of file CNodeRegistrationDecider_impl.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
◆ initializeLoggers()
|
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()
|
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()
|
inherited |
Definition at line 132 of file CRegistrationDeciderOrOptimizer_impl.h.
◆ loadParams()
|
virtualinherited |
Load the necessary for the decider/optimizer configuration parameters.
Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.
Definition at line 105 of file CRegistrationDeciderOrOptimizer_impl.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
◆ notifyOfWindowEvents()
|
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()
|
virtualinherited |
Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.
Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >, and mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >.
Definition at line 111 of file CRegistrationDeciderOrOptimizer_impl.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
◆ registerNewNode()
|
private |
Definition at line 65 of file CEmptyNRD.h.
◆ registerNewNodeAtEnd() [1/2]
|
protectedinherited |
Utility methods for adding new poses to the graph.
Add a new constraint at the end of the graph.
- Parameters
-
[in] constraint Constraint 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]
|
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()
|
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()
|
virtualinherited |
Definition at line 52 of file CRegistrationDeciderOrOptimizer_impl.h.
◆ setCriticalSectionPtr()
|
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()
|
virtualinherited |
Fetch the graph on which the decider/optimizer will work on.
Definition at line 124 of file CRegistrationDeciderOrOptimizer_impl.h.
◆ setWindowManagerPtr()
|
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()
|
virtual |
Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function.
Implementations of this interface should use (part of) the specified parameters and call the checkRegistrationCondition to check for potential node registration
- Returns
- True upon successful node registration in the graph
Implements mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.
Definition at line 59 of file CEmptyNRD.h.
◆ 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
|
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
|
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
|
protectedinherited |
Name of the class instance.
Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName().
◆ m_graph
|
protectedinherited |
Pointer to the graph that is under construction.
Definition at line 146 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForLoopClosures(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::getNearbyNodesOf(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateGraphVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateOptDistanceVisualization(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().
◆ m_graph_section
|
protectedinherited |
Definition at line 147 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::optimizeGraph().
◆ 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
|
protectedinherited |
Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.
◆ 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
|
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
|
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
|
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
|
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
|
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().
◆ report_sep
|
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().