Detailed Description

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

Interface for implementing node registration classes.

CNodeRegistrationDecider provides the basic methods that have to exist in every node registration decider class. For an example of inheriting from this class see CFixedIntervalsNRD.

Note: As a naming convention, all the implemented node registration deciders are suffixed with the NRD acronym.

Definition at line 41 of file CNodeRegistrationDecider.h.

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

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

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

typedef GRAPH_T::global_pose_t	global_pose_t

typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	inf_mat_t

Public Member Functions
	CNodeRegistrationDecider ()
	Default class constructor. More...

virtual	~CNodeRegistrationDecider ()
	Default class destructor. More...

virtual global_pose_t	getCurrentRobotPosEstimation () const
	Getter method for fetching the currently estimated robot position. More...

virtual bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
	Generic method for fetching the incremental action-observations (or observation-only) depending on the rawlog format readings from the calling function. 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')

Member Typedef Documentation

◆ constraint_t

template<class GRAPH_T>

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

type of graph constraints

Definition at line 50 of file CNodeRegistrationDecider.h.

◆ global_pose_t

template<class GRAPH_T>

typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::global_pose_t

Definition at line 53 of file CNodeRegistrationDecider.h.

◆ inf_mat_t

template<class GRAPH_T>

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

Definition at line 56 of file CNodeRegistrationDecider.h.

◆ parent_t

template<class GRAPH_T>

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::parent_t

Handy typedefs.

Parent of current class

Definition at line 48 of file CNodeRegistrationDecider.h.

◆ pose_t

template<class GRAPH_T>

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

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

Definition at line 52 of file CNodeRegistrationDecider.h.

Constructor & Destructor Documentation

◆ CNodeRegistrationDecider()

template<class GRAPH_T >

CNodeRegistrationDecider::CNodeRegistrationDecider ( )

Default class constructor.

Definition at line 13 of file CNodeRegistrationDecider_impl.h.

◆ ~CNodeRegistrationDecider()

template<class GRAPH_T >

CNodeRegistrationDecider::~CNodeRegistrationDecider ( )

virtual

Default class destructor.

Definition at line 24 of file CNodeRegistrationDecider_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >

void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t * pose ) const

protectedvirtual

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

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

Definition at line 129 of file CNodeRegistrationDecider_impl.h.

◆ assertVisualsVars()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::assertVisualsVars ( )

protectedvirtualinherited

Handy function for making all the visuals assertions in a compact manner.

Definition at line 87 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition()

template<class GRAPH_T >

bool CNodeRegistrationDecider::checkRegistrationCondition ( )

protectedvirtual

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

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

Returns: True upon successful node registration in the graph

Reimplemented in mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >, and mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >.

Definition at line 42 of file CNodeRegistrationDecider_impl.h.

◆ getClassName()

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

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::getClassName ( ) const

inlineinherited

Definition at line 138 of file CRegistrationDeciderOrOptimizer.h.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >

GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const

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

Definition at line 134 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >

void CNodeRegistrationDecider::getDescriptiveReport ( std::string * report_str ) const

virtual

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

Report should include (part of) the following:

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

Reimplemented from mrpt::graphslam::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()

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.

◆ loadParams()

template<class GRAPH_T >

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

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()

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::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams ( ) const

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().

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t & constraint )

protected

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]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )

protected

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

Definition at line 106 of file CNodeRegistrationDecider_impl.h.

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

◆ resetPDF()

template<class GRAPH_T >

void CNodeRegistrationDecider::resetPDF ( constraint_t * c )

protected

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

Definition at line 116 of file CNodeRegistrationDecider_impl.h.

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

◆ setClassName()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setClassName ( const std::string & name )

virtualinherited

Definition at line 52 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( mrpt::synch::CCriticalSection * graph_section )

virtualinherited

Fetch a mrpt::synch::CCriticalSection for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning: Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn't effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

Definition at line 73 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setGraphPtr()

template<class GRAPH_T>

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setGraphPtr ( GRAPH_T * graph )

virtualinherited

Fetch the graph on which the decider/optimizer will work on.

Definition at line 124 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setWindowManagerPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setWindowManagerPtr ( mrpt::graphslam::CWindowManager * win_manager )

virtualinherited

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

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

Definition at line 61 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T>

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

pure 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