MRPT
1.9.9
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ICP-based Edge Registration.
Register new edges in the graph with the last inserted node. Criterion for adding new edges should be the goodness of the candidate ICP edge. The nodes for ICP are picked based on the distance from the last inserted node.
Definition at line 93 of file CICPCriteriaERD.h.
#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>
Classes | |
struct | TParams |
Public Types | |
using | constraint_t = typename GRAPH_T::constraint_t |
Handy typedefs. More... | |
using | pose_t = typename GRAPH_T::constraint_t::type_value |
type of underlying poses (2D/3D). More... | |
using | parent_t = CRangeScanEdgeRegistrationDecider< GRAPH_T > |
using | range_ops_t = typename parent_t::range_ops_t |
using | decider_t = CICPCriteriaERD< GRAPH_T > |
self type - Handy type More... | |
using | nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t |
using | parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T > |
Handy typedefs. More... | |
Public Member Functions | |
CICPCriteriaERD () | |
~CICPCriteriaERD () override=default | |
bool | updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override |
Generic method for fetching the incremental action-observations (or observation-only) measurements. More... | |
void | notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred) override |
Get a list of the window events that happened since the last call. More... | |
void | getEdgesStats (std::map< std::string, int > *edge_types_to_num) const override |
Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge. More... | |
void | initializeVisuals () override |
Initialize visual objects in CDisplayWindow (e.g. More... | |
void | updateVisuals () override |
Update the relevant visual features in CDisplayWindow. More... | |
void | loadParams (const std::string &source_fname) override |
Load the necessary for the decider/optimizer configuration parameters. More... | |
void | printParams () const override |
Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way. More... | |
void | getDescriptiveReport (std::string *report_str) const override |
Fill the provided string with a detailed report of the decider/optimizer state. More... | |
virtual bool | justInsertedLoopClosure () const |
Used by the caller to query for possible loop closures in the last edge registration procedure. More... | |
virtual void | setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager) |
Fetch a CWindowManager pointer. More... | |
virtual void | setCriticalSectionPtr (std::mutex *graph_section) |
Fetch a std::mutex for locking the GRAPH_T resource. 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 |
Static Public Member Functions | |
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & | logging_levels_to_colors () |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More... | |
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & | logging_levels_to_names () |
Map from VerbosityLevels to their corresponding names. More... | |
Public Attributes | |
TParams | params |
Protected Member Functions | |
void | checkRegistrationCondition2D (const std::set< mrpt::graphs::TNodeID > &nodes_set) |
void | checkRegistrationCondition3D (const std::set< mrpt::graphs::TNodeID > &nodes_set) |
void | registerNewEdge (const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge) override |
Register a new constraint/edge in the current graph. More... | |
void | checkIfInvalidDataset (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) |
void | getNearbyNodesOf (std::set< mrpt::graphs::TNodeID > *nodes_set, const mrpt::graphs::TNodeID &cur_nodeID, double distance) |
Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID. More... | |
void | toggleLaserScansVisualization () |
togle the LaserScans visualization on and off More... | |
void | dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500) |
virtual void | assertVisualsVars () |
Handy function for making all the visuals assertions in a compact manner. More... | |
void | getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr) |
Align the 2D range scans provided and fill the potential edge that can transform the one into the other. More... | |
void | getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr) |
Align the 3D range scans provided and find the potential edge that can transform the one into the other. More... | |
void | decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0) |
Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points. More... | |
bool | convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out) |
Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More... | |
Registration criteria checks | |
Check whether a new edge should be registered in the graph. If condition(s) for edge registration is satisfied, method should call the registerNewEdge method. | |
virtual void | checkRegistrationCondition (mrpt::graphs::TNodeID from, mrpt::graphs::TNodeID to) |
virtual void | checkRegistrationCondition (const std::set< mrpt::graphs::TNodeID > &) |
Protected Attributes | |
mrpt::img::TColor | m_search_disk_color |
see Constructor for initialization More... | |
mrpt::img::TColor | m_laser_scans_color |
see Constructor for initialization More... | |
double | m_offset_y_search_disk |
int | m_text_index_search_disk |
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > | m_nodes_to_laser_scans2D |
std::map< mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr > | m_nodes_to_laser_scans3D |
std::map< std::string, int > | m_edge_types_to_nums |
bool | m_is_using_3DScan {false} |
mrpt::obs::CObservation2DRangeScan::Ptr | m_last_laser_scan2D |
mrpt::obs::CObservation3DRangeScan::Ptr | m_last_laser_scan3D |
mrpt::obs::CObservation2DRangeScan::Ptr | m_fake_laser_scan2D |
size_t | m_last_total_num_nodes = 0 |
Keep track of the total number of registered nodes since the last time class method was called. More... | |
bool | m_just_inserted_lc = false |
bool | m_override_registered_nodes_check = false |
Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method. More... | |
GRAPH_T * | m_graph = nullptr |
Pointer to the graph that is under construction. More... | |
std::mutex * | m_graph_section = nullptr |
mrpt::system::CTimeLogger | m_time_logger |
Time logger instance. More... | |
std::string | m_class_name = "CRegistrationDeciderOrOptimizer" |
Name of the class instance. More... | |
bool | is_mr_slam_class = false |
Boolean indicating if the current class can be used in multi-robot SLAM operations. More... | |
VerbosityLevel | m_min_verbosity_level {LVL_INFO} |
Provided messages with VerbosityLevel smaller than this value shall be ignored. More... | |
Visuals-related variables methods | |
mrpt::graphslam::CWindowManager * | m_win_manager = nullptr |
Pointer to the CWindowManager object used to store visuals-related instances. More... | |
mrpt::gui::CDisplayWindow3D * | m_win = nullptr |
Window to use. More... | |
mrpt::graphslam::CWindowObserver * | m_win_observer = nullptr |
CWindowObserver object for monitoring various visual-oriented events. More... | |
bool | m_initialized_visuals = false |
Static Protected Attributes | |
static const std::string | header_sep |
Separator string to be used in debugging messages. More... | |
static const std::string | report_sep |
Logging methods | |
bool | logging_enable_console_output {true} |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More... | |
bool | logging_enable_keep_record {false} |
[Default=false] Enables storing all messages into an internal list. More... | |
void | logStr (const VerbosityLevel level, std::string_view msg_str) const |
Main method to add the specified message string to the logger. More... | |
void | logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3 |
Alternative logging method, which mimics the printf behavior. More... | |
void void | logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const |
Log the given message only if the condition is satisfied. More... | |
void | setLoggerName (const std::string &name) |
Set the name of the COutputLogger instance. More... | |
std::string | getLoggerName () const |
Return the name of the COutputLogger instance. More... | |
void | setMinLoggingLevel (const VerbosityLevel level) |
Set the minimum logging level for which the incoming logs are going to be taken into account. More... | |
void | setVerbosityLevel (const VerbosityLevel level) |
alias of setMinLoggingLevel() More... | |
VerbosityLevel | getMinLoggingLevel () const |
bool | isLoggingLevelVisible (VerbosityLevel level) const |
void | getLogAsString (std::string &log_contents) const |
Fill the provided string with the contents of the logger's history in std::string representation. More... | |
std::string | getLogAsString () const |
Get the history of COutputLogger instance in a string representation. More... | |
void | writeLogToFile (const std::string *fname_in=nullptr) const |
Write the contents of the COutputLogger instance to an external file. More... | |
void | dumpLogToConsole () const |
Dump the current contents of the COutputLogger instance in the terminal window. More... | |
std::string | getLoggerLastMsg () const |
Return the last Tmsg instance registered in the logger history. More... | |
void | getLoggerLastMsg (std::string &msg_str) const |
Fill inputtted string with the contents of the last message in history. More... | |
void | loggerReset () |
Reset the contents of the logger instance. More... | |
void | logRegisterCallback (output_logger_callback_t userFunc) |
bool | logDeregisterCallback (output_logger_callback_t userFunc) |
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t |
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::decider_t = CICPCriteriaERD<GRAPH_T> |
self type - Handy type
Definition at line 107 of file CICPCriteriaERD.h.
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t |
Definition at line 108 of file CICPCriteriaERD.h.
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using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T> |
Definition at line 104 of file CICPCriteriaERD.h.
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value |
type of underlying poses (2D/3D).
Definition at line 103 of file CICPCriteriaERD.h.
using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::range_ops_t = typename parent_t::range_ops_t |
Definition at line 105 of file CICPCriteriaERD.h.
mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD | ( | ) |
Definition at line 20 of file CICPCriteriaERD_impl.h.
References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums, mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes, MRPT_END, MRPT_LOG_DEBUG, and MRPT_START.
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Handy function for making all the visuals assertions in a compact manner.
Definition at line 74 of file CRegistrationDeciderOrOptimizer_impl.h.
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Definition at line 72 of file CEdgeRegistrationDecider.h.
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Definition at line 76 of file CEdgeRegistrationDecider.h.
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Definition at line 156 of file CICPCriteriaERD_impl.h.
References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, and params.
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Definition at line 237 of file CICPCriteriaERD_impl.h.
References mrpt::math::absDiff(), mrpt::slam::CICP::TReturnInfo::goodness, MRPT_END, MRPT_START, and params.
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Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.
Definition at line 133 of file CRangeScanOps_impl.h.
References mrpt::obs::CObservation2DRangeScan::Create(), MRPT_END, MRPT_START, and params.
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Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.
Definition at line 100 of file CRangeScanOps_impl.h.
References mrpt::maps::CPointsMap::applyDeletionMask(), MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::size().
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Dump the current contents of the COutputLogger instance in the terminal window.
Definition at line 190 of file COutputLogger.cpp.
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Definition at line 533 of file CICPCriteriaERD_impl.h.
References MRPT_END, MRPT_LOG_ERROR_FMT, and MRPT_START.
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Definition at line 134 of file CRegistrationDeciderOrOptimizer.h.
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Fill the provided string with a detailed report of the decider/optimizer state.
Report should include (part of) the following:
Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 578 of file CICPCriteriaERD_impl.h.
References MRPT_END, and MRPT_START.
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Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.
Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.
Definition at line 386 of file CICPCriteriaERD_impl.h.
References MRPT_END, and MRPT_START.
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Align the 2D range scans provided and fill the potential edge that can transform the one into the other.
User can optionally ask that additional information be returned in a TReturnInfo struct
Definition at line 16 of file CRangeScanOps_impl.h.
References MRPT_END, MRPT_START, and params.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().
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Align the 3D range scans provided and find the potential edge that can transform the one into the other.
Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct
Definition at line 50 of file CRangeScanOps_impl.h.
References ASSERTDEBMSG_, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, MRPT_START, and params.
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Fill the provided string with the contents of the logger's history in std::string representation.
Definition at line 154 of file COutputLogger.cpp.
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Get the history of COutputLogger instance in a string representation.
Definition at line 159 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
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Return the last Tmsg instance registered in the logger history.
Definition at line 195 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::getAsString().
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Fill inputtted string with the contents of the last message in history.
Definition at line 201 of file COutputLogger.cpp.
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Return the name of the COutputLogger instance.
Definition at line 143 of file COutputLogger.cpp.
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Definition at line 201 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().
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Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID.
Definition at line 311 of file CICPCriteriaERD_impl.h.
References mrpt::math::distance(), MRPT_END, and MRPT_START.
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Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.
Definition at line 22 of file CRegistrationDeciderOrOptimizer_impl.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::CLevMarqGSO().
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Initialize visual objects in CDisplayWindow (e.g.
add an object to scene).
std::exception | If the method is called without having first provided a CDisplayWindow3D* to the class instance |
Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 397 of file CICPCriteriaERD_impl.h.
References ASSERTDEBMSG_, mrpt::opengl::CPlanarLaserScan::Create(), mrpt::system::LVL_DEBUG, MRPT_END, MRPT_START, and params.
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Definition at line 202 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
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Definition at line 123 of file CRegistrationDeciderOrOptimizer_impl.h.
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Used by the caller to query for possible loop closures in the last edge registration procedure.
Definition at line 60 of file CEdgeRegistrationDecider.h.
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Load the necessary for the decider/optimizer configuration parameters.
Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 550 of file CICPCriteriaERD_impl.h.
References MRPT_END, MRPT_LOG_DEBUG, MRPT_START, params, mrpt::config::CConfigFileBase::read_int(), and setMinLoggingLevel().
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Log the given message only if the condition is satisfied.
Definition at line 131 of file COutputLogger.cpp.
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Definition at line 291 of file COutputLogger.cpp.
References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.
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Alternative logging method, which mimics the printf behavior.
Handy for not having to first use mrpt::format to pass a std::string message to logStr
Definition at line 91 of file COutputLogger.cpp.
Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().
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Reset the contents of the logger instance.
Called upon construction.
Definition at line 206 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
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Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.
Handy for coloring the input based on the verbosity of the message
Definition at line 47 of file COutputLogger.cpp.
References logging_levels_to_colors.
Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().
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Map from VerbosityLevels to their corresponding names.
Handy for printing the current message VerbosityLevel along with the actual content
Definition at line 60 of file COutputLogger.cpp.
References logging_levels_to_names.
Referenced by mrpt::system::COutputLogger::TMsg::getAsString().
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Definition at line 278 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::m_listCallbacks.
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Main method to add the specified message string to the logger.
Definition at line 72 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.
Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().
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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 from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 340 of file CICPCriteriaERD_impl.h.
References MRPT_END, MRPT_START, and params.
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Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.
Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 568 of file CICPCriteriaERD_impl.h.
References MRPT_END, MRPT_START, and params.
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Register a new constraint/edge in the current graph.
Implementations of this class should provide a wrapper around GRAPH_T::insertEdge method.
Reimplemented from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >.
Definition at line 301 of file CICPCriteriaERD_impl.h.
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Definition at line 35 of file CRegistrationDeciderOrOptimizer_impl.h.
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Fetch a std::mutex for locking the GRAPH_T resource.
Handy for realising multithreading in the derived classes.
Definition at line 58 of file CRegistrationDeciderOrOptimizer_impl.h.
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Fetch the graph on which the decider/optimizer will work on.
Definition at line 116 of file CRegistrationDeciderOrOptimizer_impl.h.
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Set the name of the COutputLogger instance.
Definition at line 138 of file COutputLogger.cpp.
Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().
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Set the minimum logging level for which the incoming logs are going to be taken into account.
String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance
Definition at line 144 of file COutputLogger.cpp.
Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().
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alias of setMinLoggingLevel()
Definition at line 149 of file COutputLogger.cpp.
Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().
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virtualinherited |
Fetch a CWindowManager pointer.
CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible
Definition at line 44 of file CRegistrationDeciderOrOptimizer_impl.h.
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protected |
togle the LaserScans visualization on and off
Definition at line 356 of file CICPCriteriaERD_impl.h.
References ASSERTDEBMSG_, mrpt::system::LVL_INFO, MRPT_END, MRPT_START, and params.
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overridevirtual |
Generic method for fetching the incremental action-observations (or observation-only) measurements.
Implements mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 46 of file CICPCriteriaERD_impl.h.
References mrpt::format(), IS_CLASS, mrpt::obs::CObservation3DRangeScan::load(), MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_START, and params.
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overridevirtual |
Update the relevant visual features in CDisplayWindow.
std::exception | If the method is called without having first provided a CDisplayWindow3D* to the class instance |
Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.
Definition at line 466 of file CICPCriteriaERD_impl.h.
References mrpt::DEG2RAD(), MRPT_END, MRPT_START, and params.
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inherited |
Write the contents of the COutputLogger instance to an external file.
Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided
Definition at line 165 of file COutputLogger.cpp.
References ASSERTMSG_, and mrpt::format().
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staticprotectedinherited |
Separator string to be used in debugging messages.
Definition at line 171 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
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protectedinherited |
Boolean indicating if the current class can be used in multi-robot SLAM operations.
Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.
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inherited |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.
Definition at line 240 of file system/COutputLogger.h.
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inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 243 of file system/COutputLogger.h.
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protectedinherited |
Name of the class instance.
Definition at line 163 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName().
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Definition at line 203 of file CICPCriteriaERD.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD().
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protected |
Definition at line 210 of file CICPCriteriaERD.h.
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protectedinherited |
Pointer to the graph that is under construction.
Definition at line 142 of file CRegistrationDeciderOrOptimizer.h.
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protectedinherited |
Definition at line 143 of file CRegistrationDeciderOrOptimizer.h.
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protectedinherited |
Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.
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protected |
Definition at line 204 of file CICPCriteriaERD.h.
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protectedinherited |
Definition at line 90 of file CEdgeRegistrationDecider.h.
Referenced by mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >::justInsertedLoopClosure().
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protected |
see Constructor for initialization
Definition at line 195 of file CICPCriteriaERD.h.
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protected |
Definition at line 206 of file CICPCriteriaERD.h.
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protected |
Definition at line 207 of file CICPCriteriaERD.h.
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protectedinherited |
Keep track of the total number of registered nodes since the last time class method was called.
Definition at line 56 of file CRangeScanEdgeRegistrationDecider.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::CICPCriteriaERD().
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protectedinherited |
Provided messages with VerbosityLevel smaller than this value shall be ignored.
Definition at line 253 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().
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protected |
Definition at line 200 of file CICPCriteriaERD.h.
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protected |
Definition at line 202 of file CICPCriteriaERD.h.
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protected |
Definition at line 196 of file CICPCriteriaERD.h.
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protectedinherited |
Indicates whether the ERD implementation expects, at most one single node to be registered, between successive calls to the updateState method.
Definition at line 95 of file CEdgeRegistrationDecider.h.
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protected |
see Constructor for initialization
Definition at line 193 of file CICPCriteriaERD.h.
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protected |
Definition at line 197 of file CICPCriteriaERD.h.
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protectedinherited |
Time logger instance.
Definition at line 161 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().
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protectedinherited |
Window to use.
Definition at line 153 of file CRegistrationDeciderOrOptimizer.h.
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protectedinherited |
Pointer to the CWindowManager object used to store visuals-related instances.
Definition at line 151 of file CRegistrationDeciderOrOptimizer.h.
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protectedinherited |
CWindowObserver object for monitoring various visual-oriented events.
Definition at line 156 of file CRegistrationDeciderOrOptimizer.h.
TParams mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::params |
Definition at line 161 of file CICPCriteriaERD.h.
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staticprotectedinherited |
Definition at line 172 of file CRegistrationDeciderOrOptimizer.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
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