Detailed Description

This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes.

Definition at line 30 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

Classes
struct	TOptions
	Configuration of the algorithm: 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 ()

CIncrementalMapPartitioner ()

ctor More...

virtual ~CIncrementalMapPartitioner ()

dtor More...

void clear ()

void updatePartitions (std::vector< vector_uint > &partitions)

This method executed only the neccesary part of the partition to take into account the lastest added frames. More...

unsigned int getNodesCount ()

Get the total node count currently in the internal map/graph. More...

void removeSetOfNodes (vector_uint indexesToRemove, bool changeCoordsRef=true)

Remove the stated nodes (0-based indexes) from the internal lists. More...

template<class MATRIX >

void getAdjacencyMatrix (MATRIX &outMatrix) const

Return a copy of the internal adjacency matrix. More...

const mrpt::math::CMatrixDouble & getAdjacencyMatrix () const

Return a const ref to the internal adjacency matrix. More...

const mrpt::maps::CSimpleMap * getSequenceOfFrames () const

Read-only access to the sequence of Sensory Frames. More...

mrpt::maps::CSimpleMap * getSequenceOfFrames ()

Access to the sequence of Sensory Frames. More...

void markAllNodesForReconsideration ()

Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. More...

void getAs3DScene (mrpt::opengl::CSetOfObjectsPtr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const

Return a 3D representation of the current state: poses & links between them. 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...

CObject * clone () const

Cloning interface for smart pointers. More...

Add to the Map Frames

Add a new frame to the current graph

Call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions"

Parameters

frame	The sensed data
robotPose*D	An estimation of the robot global *D pose.

Returns: { The index of the new pose in the internal list, which will be used to refer to the pose in the future. }

See also: updatePartitions

unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::CPosePDFPtr &robotPose2D)

unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::CPose3DPDFPtr &robotPose3D)

unsigned int addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::CPose3DPDF &robotPose3D)

Change Coordinates System

Change the coordinate origin of all stored poses

Used for consistency with future new poses to enter in the system.

void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)

void changeCoordinatesOriginPoseIndex (const unsigned &newOriginPose)

The new origin is given by the index of the pose that is to become the new origin. More...

RTTI classes and functions

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...

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

Public Attributes
mrpt::slam::CIncrementalMapPartitioner::TOptions	options

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...

Private Attributes
mrpt::maps::CSimpleMap	m_individualFrames

std::deque< mrpt::maps::CMultiMetricMap >	m_individualMaps

mrpt::math::CMatrixD	m_A
	Adjacency matrix. More...

std::vector< vector_uint >	m_last_partition
	The last partition. More...

bool	m_last_last_partition_are_new_ones
	This will be true after adding new observations, and before an "updatePartitions" is invoked. More...

std::vector< uint8_t >	m_modified_nodes
	The list of keyframes to consider in the next update. More...

RTTI stuff
typedef CIncrementalMapPartitionerPtr	Ptr

typedef CIncrementalMapPartitionerPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CIncrementalMapPartitioner

static mrpt::utils::TRuntimeClassId	classCIncrementalMapPartitioner

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 CIncrementalMapPartitionerPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::ConstPtr

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ Ptr

typedef CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

CIncrementalMapPartitioner::CIncrementalMapPartitioner ( )

ctor

Definition at line 40 of file CIncrementalMapPartitioner.cpp.

References mrpt::utils::clear().

◆ ~CIncrementalMapPartitioner()

CIncrementalMapPartitioner::~CIncrementalMapPartitioner ( )

virtual

dtor

Definition at line 56 of file CIncrementalMapPartitioner.cpp.

References mrpt::utils::clear().

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ addMapFrame() [1/3]

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFramePtr &	frame,
		const mrpt::poses::CPosePDFPtr &	robotPose2D
	)

Referenced by addMapFrame(), mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ addMapFrame() [2/3]

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFramePtr &	frame,
		const mrpt::poses::CPose3DPDFPtr &	robotPose3D
	)

◆ addMapFrame() [3/3]

unsigned int CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFrame &	frame,
		const mrpt::poses::CPose3DPDF &	robotPose3D
	)

Definition at line 721 of file CIncrementalMapPartitioner.cpp.

References addMapFrame(), and mrpt::utils::CObject::duplicateGetSmartPtr().

◆ changeCoordinatesOrigin()

void CIncrementalMapPartitioner::changeCoordinatesOrigin ( const mrpt::poses::CPose3D & newOrigin )

Definition at line 582 of file CIncrementalMapPartitioner.cpp.

References mrpt::maps::CSimpleMap::changeCoordinatesOrigin(), and m_individualFrames.

Referenced by changeCoordinatesOriginPoseIndex().

◆ changeCoordinatesOriginPoseIndex()

void CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex ( const unsigned & newOriginPose )

The new origin is given by the index of the pose that is to become the new origin.

Definition at line 590 of file CIncrementalMapPartitioner.cpp.

References changeCoordinatesOrigin(), mrpt::maps::CSimpleMap::get(), m_individualFrames, MRPT_END, and MRPT_START.

◆ clear()

void CIncrementalMapPartitioner::clear ( )

Definition at line 111 of file CIncrementalMapPartitioner.cpp.

References mrpt::maps::CSimpleMap::clear(), m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, and m_modified_nodes.

Referenced by mrpt::slam::CRangeBearingKFSLAM::reset().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create()

static CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::Create ( )

static

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::slam::CIncrementalMapPartitioner::duplicate ( ) const

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ getAdjacencyMatrix() [1/2]

template<class MATRIX >

void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX & outMatrix ) const

inline

Return a copy of the internal adjacency matrix.

Definition at line 144 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

◆ getAdjacencyMatrix() [2/2]

const mrpt::math::CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const

inline

Return a const ref to the internal adjacency matrix.

Definition at line 147 of file CIncrementalMapPartitioner.h.

◆ getAs3DScene()

void CIncrementalMapPartitioner::getAs3DScene	(	mrpt::opengl::CSetOfObjectsPtr &	objs,
		const std::map< uint32_t, int64_t > *	renameIndexes = `NULL`
	)		const

Return a 3D representation of the current state: poses & links between them.

The previous contents of "objs" will be discarded

Definition at line 608 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::opengl::CSimpleLine::Create(), mrpt::opengl::CSphere::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::format(), mrpt::maps::CSimpleMap::get(), m_A, m_individualFrames, mrpt::maps::CSimpleMap::size(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::hmtslam::CHMTSLAM::generateLogFiles().

◆ getNodesCount()

unsigned int CIncrementalMapPartitioner::getNodesCount ( )

Get the total node count currently in the internal map/graph.

Definition at line 471 of file CIncrementalMapPartitioner.cpp.

References m_individualFrames, and mrpt::maps::CSimpleMap::size().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ getSequenceOfFrames() [1/2]

const mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const

inline

Read-only access to the sequence of Sensory Frames.

Definition at line 152 of file CIncrementalMapPartitioner.h.

◆ getSequenceOfFrames() [2/2]

mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( )

inline

Access to the sequence of Sensory Frames.

Definition at line 159 of file CIncrementalMapPartitioner.h.

◆ markAllNodesForReconsideration()

void CIncrementalMapPartitioner::markAllNodesForReconsideration ( )

Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs.

Definition at line 570 of file CIncrementalMapPartitioner.cpp.

References m_last_last_partition_are_new_ones, m_last_partition, and m_modified_nodes.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), and mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow().

◆ operator delete() [1/3]

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator delete() [2/3]

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator delete() [3/3]

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

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator delete[]()

void mrpt::slam::CIncrementalMapPartitioner::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator new() [1/3]

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

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator new() [2/3]

void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t size )

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator new() [3/3]

static void* mrpt::slam::CIncrementalMapPartitioner::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ operator new[]()

void* mrpt::slam::CIncrementalMapPartitioner::operator new[] ( size_t size )

inline

Definition at line 35 of file CIncrementalMapPartitioner.h.

◆ readFromStream()

void CIncrementalMapPartitioner::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 679 of file CIncrementalMapPartitioner.cpp.

References m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ removeSetOfNodes()

void CIncrementalMapPartitioner::removeSetOfNodes	(	vector_uint	indexesToRemove,
		bool	changeCoordsRef = `true`
	)

Remove the stated nodes (0-based indexes) from the internal lists.

If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0).

Definition at line 479 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::maps::CSimpleMap::changeCoordinatesOrigin(), mrpt::maps::CSimpleMap::get(), m_A, m_individualFrames, m_individualMaps, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, MRPT_END, MRPT_START, mrpt::maps::CSimpleMap::remove(), and mrpt::maps::CSimpleMap::size().

◆ updatePartitions()

void CIncrementalMapPartitioner::updatePartitions ( std::vector< vector_uint > & partitions )

This method executed only the neccesary part of the partition to take into account the lastest added frames.

See also: addMapFrame

Definition at line 350 of file CIncrementalMapPartitioner.cpp.

References mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly, m_A, m_last_last_partition_are_new_ones, m_last_partition, m_modified_nodes, mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster, MRPT_END, MRPT_START, options, and mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), and mrpt::slam::CRangeBearingKFSLAM::reconsiderPartitionsNow().

◆ 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 CIncrementalMapPartitioner::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