mrpt::slam::CMetricMapBuilderICP Class Reference

Detailed Description

A class for very simple 2D SLAM based on ICP.

This is a non-probabilistic pose tracking algorithm. Map are stored as in files as binary dumps of "mrpt::maps::CSimpleMap" objects. The methods are thread-safe.

Definition at line 25 of file CMetricMapBuilderICP.h.

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP:

Classes
struct	TConfigParams
	Algorithm configuration params. More...
struct	TDist
	Traveled distances from last map update / ICP-based localization. More...

Public Member Functions
	CMetricMapBuilderICP ()
	Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize". More...
	~CMetricMapBuilderICP () override
	Destructor: More...
void	initialize (const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr) override
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left unmodified) and a given fixed, past map. More...
mrpt::poses::CPose3DPDF::Ptr	getCurrentPoseEstimation () const override
	Returns a copy of the current best pose estimation as a pose PDF. More...
void	setCurrentMapFile (const char *mapFile)
	Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object. More...
void	processActionObservation (mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &in_SF) override
	Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. More...
void	processObservation (const mrpt::obs::CObservation::Ptr &obs)
	The main method of this class: Process one odometry or sensor observation. More...
void	getCurrentlyBuiltMap (mrpt::maps::CSimpleMap &out_map) const override
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. More...
void	getCurrentMapPoints (std::vector< float > &x, std::vector< float > &y)
	Returns the 2D points of current local map. More...
const mrpt::maps::CMultiMetricMap *	getCurrentlyBuiltMetricMap () const override
	Returns the map built so far. More...
unsigned int	getCurrentlyBuiltMapSize () override
	Returns just how many sensory-frames are stored in the currently build map. More...
void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true) override
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. More...
void	clear ()
	Clear all elements of the maps, and reset localization to (0,0,0deg). More...
void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled) More...
void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file. More...
void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file. More...

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
TConfigParams	ICP_options
	Options for the ICP-SLAM application. More...
CICP::TConfigParams	ICP_params
	Options for the ICP algorithm itself. More...
TOptions	options

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

Protected Attributes
std::mutex	critZoneChangingMap
	Critical zones. More...
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Member Functions
void	accumulateRobotDisplacementCounters (const mrpt::poses::CPose2D &new_pose)
void	resetRobotDisplacementCounters (const mrpt::poses::CPose2D &new_pose)

Private Attributes
mrpt::maps::CSimpleMap	SF_Poses_seq
	The set of observations that leads to current map: More...
mrpt::maps::CMultiMetricMap	metricMap
	The metric map representation as a points map: More...
std::string	currentMapFile
	Current map file. More...
mrpt::poses::CRobot2DPoseEstimator	m_lastPoseEst
	The pose estimation by the alignment algorithm (ICP). More...
mrpt::math::CMatrixDouble33	m_lastPoseEst_cov
	Last pose estimation (covariance) More...
std::deque< mrpt::math::TPose2D >	m_estRobotPath
	The estimated robot path: More...
mrpt::poses::CPose2D	m_auxAccumOdometry
TDist	m_distSinceLastICP
std::map< std::string, TDist >	m_distSinceLastInsertion
	Indexed by sensor label. More...
bool	m_there_has_been_an_odometry {false}

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)

Constructor & Destructor Documentation

CMetricMapBuilderICP()

CMetricMapBuilderICP::CMetricMapBuilderICP

(

)

Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize".

Definition at line 33 of file CMetricMapBuilderICP.cpp.

References initialize(), and mrpt::system::COutputLogger::setLoggerName().

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~CMetricMapBuilderICP()

CMetricMapBuilderICP::~CMetricMapBuilderICP ( )

override

Destructor:

Definition at line 43 of file CMetricMapBuilderICP.cpp.

References mrpt::slam::CMetricMapBuilder::enterCriticalSection(), mrpt::slam::CMetricMapBuilder::leaveCriticalSection(), and setCurrentMapFile().

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Member Function Documentation

accumulateRobotDisplacementCounters()

void CMetricMapBuilderICP::accumulateRobotDisplacementCounters ( const mrpt::poses::CPose2D &  new_pose )

private

Definition at line 654 of file CMetricMapBuilderICP.cpp.

References m_distSinceLastICP, m_distSinceLastInsertion, and mrpt::slam::CMetricMapBuilderICP::TDist::updateDistances().

Referenced by processObservation().

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clear()

void CMetricMapBuilder::clear ( )

inherited

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

Definition at line 43 of file CMetricMapBuilder.cpp.

References mrpt::slam::CMetricMapBuilder::initialize(), and MRPT_LOG_DEBUG.

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dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

enableMapUpdating()

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

inlineinherited

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

Definition at line 104 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, and mrpt::slam::CMetricMapBuilder::options.

enterCriticalSection()

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

inlineprotectedinherited

Enter critical section for map updating.

Definition at line 38 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by ~CMetricMapBuilderICP().

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getCurrentlyBuiltMap()

void CMetricMapBuilderICP::getCurrentlyBuiltMap ( mrpt::maps::CSimpleMap &  out_map ) const

overridevirtual

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

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 584 of file CMetricMapBuilderICP.cpp.

References SF_Poses_seq.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run().

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getCurrentlyBuiltMapSize()

unsigned int CMetricMapBuilderICP::getCurrentlyBuiltMapSize ( )

overridevirtual

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

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 597 of file CMetricMapBuilderICP.cpp.

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

Referenced by mrpt::apps::ICP_SLAM_App_Base::run().

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getCurrentlyBuiltMetricMap()

const CMultiMetricMap * CMetricMapBuilderICP::getCurrentlyBuiltMetricMap ( ) const

overridevirtual

Returns the map built so far.

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

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 589 of file CMetricMapBuilderICP.cpp.

References metricMap.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run().

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getCurrentMapPoints()

void CMetricMapBuilderICP::getCurrentMapPoints	(	std::vector< float > &	x,
		std::vector< float > &	y
	)

Returns the 2D points of current local map.

Definition at line 570 of file CMetricMapBuilderICP.cpp.

References ASSERT_, mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::lockHelper(), mrpt::maps::CMultiMetricMap::mapByClass(), and metricMap.

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getCurrentPoseEstimation()

CPose3DPDF::Ptr CMetricMapBuilderICP::getCurrentPoseEstimation ( ) const

overridevirtual

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

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 508 of file CMetricMapBuilderICP.cpp.

References mrpt::poses::CPosePDFGaussian::cov, mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), m_lastPoseEst, m_lastPoseEst_cov, and mrpt::poses::CPosePDFGaussian::mean.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run().

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getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

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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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

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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getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

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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initialize()

void CMetricMapBuilderICP::initialize ( const mrpt::maps::CSimpleMap &  initialMap = mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *  x0 = nullptr  )

overridevirtual

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

This method MUST be called if using the default constructor, after loading the configuration into ICP_options. In particular, TConfigParams::mapInitializers

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 522 of file CMetricMapBuilderICP.cpp.

References mrpt::slam::CMetricMapBuilderICP::TDist::ang, mrpt::poses::CPose2D::asTPose(), mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::maps::CSimpleMap::get(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), ICP_options, mrpt::slam::CMetricMapBuilderICP::TDist::lin, mrpt::lockHelper(), m_auxAccumOdometry, m_distSinceLastICP, m_distSinceLastInsertion, m_estRobotPath, m_lastPoseEst, m_there_has_been_an_odometry, mrpt::slam::CMetricMapBuilderICP::TConfigParams::mapInitializers, metricMap, MRPT_END, MRPT_START, mrpt::Clock::now(), mrpt::poses::CRobot2DPoseEstimator::processUpdateNewPoseLocalization(), mrpt::poses::CRobot2DPoseEstimator::reset(), mrpt::maps::CMultiMetricMap::setListOfMaps(), SF_Poses_seq, and mrpt::maps::CSimpleMap::size().

Referenced by CMetricMapBuilderICP(), and mrpt::apps::ICP_SLAM_App_Base::run().

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isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

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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leaveCriticalSection()

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

inlineprotectedinherited

Leave critical section for map updating.

Definition at line 40 of file CMetricMapBuilder.h.

References mrpt::slam::CMetricMapBuilder::critZoneChangingMap.

Referenced by ~CMetricMapBuilderICP().

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loadCurrentMapFromFile()

void CMetricMapBuilder::loadCurrentMapFromFile ( const std::string &  fileName )

inherited

Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.

Definition at line 56 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::maps::CSimpleMap::clear(), mrpt::system::fileExists(), mrpt::slam::CMetricMapBuilder::initialize(), MRPT_LOG_INFO_STREAM, and MRPT_LOG_WARN_STREAM.

Referenced by setCurrentMapFile().

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logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

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

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

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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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

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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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

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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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, std::string_view  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

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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processActionObservation()

void CMetricMapBuilderICP::processActionObservation ( mrpt::obs::CActionCollection &  action, mrpt::obs::CSensoryFrame &  in_SF  )

overridevirtual

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

Parameters

action	The estimation of the incremental pose change in the robot pose.
in_SF	The set of observations that robot senses at the new pose. See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

See also

processObservation

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 468 of file CMetricMapBuilderICP.cpp.

References mrpt::poses::CPose2D::composeFrom(), mrpt::obs::CActionCollection::getBestMovementEstimation(), m_auxAccumOdometry, and processObservation().

Referenced by mrpt::apps::ICP_SLAM_App_Base::run().

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processObservation()

void CMetricMapBuilderICP::processObservation

(

const mrpt::obs::CObservation::Ptr &

obs

)

The main method of this class: Process one odometry or sensor observation.

The new entry point of the algorithm (the old one was processActionObservation, which now is a wrapper to this method). See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

Definition at line 134 of file CMetricMapBuilderICP.cpp.

References accumulateRobotDisplacementCounters(), mrpt::slam::CMetricMapsAlignmentAlgorithm::Align(), mrpt::maps::CPointsMap::TInsertionOptions::also_interpolate, mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, mrpt::slam::CMetricMapBuilderICP::TDist::ang, ASSERT_, ASSERTMSG_, mrpt::poses::CPose2D::asString(), mrpt::poses::CPose2D::asTPose(), mrpt::rtti::CListOfClasses::contains(), mrpt::poses::CPosePDFGaussian::copyFrom(), mrpt::maps::CMultiMetricMap::countMapsByClass(), mrpt::poses::CPosePDFGaussian::cov, mrpt::slam::CMetricMapBuilder::critZoneChangingMap, mrpt::containers::empty(), mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating, mrpt::slam::TMetricMapAlignmentResult::executionTime, mrpt::format(), mrpt::system::formatTimeInterval(), mrpt::poses::CRobot2DPoseEstimator::getCurrentEstimate(), mrpt::poses::CRobot2DPoseEstimator::getLatestRobotPose(), mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mrpt::slam::CICP::TReturnInfo::goodness, ICP_options, ICP_params, mrpt::maps::CSimpleMap::insert(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance, mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance, mrpt::maps::CPointsMap::insertionOptions, mrpt::maps::COccupancyGridMap2D::insertionOptions, mrpt::maps::CMetricMap::insertObservationPtr(), INVALID_TIMESTAMP, IS_CLASS, IS_DERIVED, mrpt::maps::CMetricMap::isEmpty(), mrpt::slam::CMetricMapBuilderICP::TDist::lin, mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationAngDistance, mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance, mrpt::lockHelper(), m_distSinceLastICP, m_distSinceLastInsertion, m_estRobotPath, m_lastPoseEst, m_lastPoseEst_cov, m_there_has_been_an_odometry, mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude, mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::matchAgainstTheGrid, mrpt::poses::CPosePDFGaussian::mean, metricMap, mrpt::maps::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints, mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_INFO, MRPT_LOG_INFO_STREAM, MRPT_LOG_THROTTLE_WARN, MRPT_LOG_WARN, MRPT_LOG_WARN_STREAM, MRPT_START, mrpt::slam::CICP::TReturnInfo::nIterations, mrpt::slam::CMetricMapBuilder::options, mrpt::slam::CICP::options, mrpt::poses::CRobot2DPoseEstimator::processUpdateNewOdometry(), mrpt::poses::CRobot2DPoseEstimator::processUpdateNewPoseLocalization(), resetRobotDisplacementCounters(), SF_Poses_seq, mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::slam::CMetricMapBuilderICP::TDist::updatePose(), and mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude.

Referenced by processActionObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().

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resetRobotDisplacementCounters()

void CMetricMapBuilderICP::resetRobotDisplacementCounters ( const mrpt::poses::CPose2D &  new_pose )

private

Definition at line 661 of file CMetricMapBuilderICP.cpp.

References m_distSinceLastICP, m_distSinceLastInsertion, and mrpt::slam::CMetricMapBuilderICP::TDist::updatePose().

Referenced by processObservation().

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saveCurrentEstimationToImage()

void CMetricMapBuilderICP::saveCurrentEstimationToImage ( const std::string &  file, bool  formatEMF_BMP = true  )

overridevirtual

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

Parameters

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP

Implements mrpt::slam::CMetricMapBuilder.

Definition at line 605 of file CMetricMapBuilderICP.cpp.

References mrpt::img::CEnhancedMetaFile::drawImage(), mrpt::maps::COccupancyGridMap2D::getAsImage(), mrpt::img::CEnhancedMetaFile::line(), m_estRobotPath, mrpt::maps::CMultiMetricMap::mapByClass(), metricMap, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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saveCurrentMapToFile()

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

inherited

Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.

Definition at line 88 of file CMetricMapBuilder.cpp.

References mrpt::serialization::archiveFrom(), mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap(), and MRPT_LOG_INFO_STREAM.

Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), and setCurrentMapFile().

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setCurrentMapFile()

void CMetricMapBuilderICP::setCurrentMapFile

(

const char *

mapFile

)

Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.

Definition at line 493 of file CMetricMapBuilderICP.cpp.

References currentMapFile, mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile(), and mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile().

Referenced by ~CMetricMapBuilderICP().

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setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by 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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setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

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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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

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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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) const

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

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

critZoneChangingMap

std::mutex mrpt::slam::CMetricMapBuilder::critZoneChangingMap

protectedinherited

Critical zones.

Definition at line 36 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::clear(), mrpt::slam::CMetricMapBuilder::enterCriticalSection(), getCurrentMapPoints(), initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), mrpt::slam::CMetricMapBuilder::leaveCriticalSection(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and processObservation().

currentMapFile

std::string mrpt::slam::CMetricMapBuilderICP::currentMapFile

private

Current map file.

Definition at line 164 of file CMetricMapBuilderICP.h.

Referenced by setCurrentMapFile().

ICP_options

TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_options

Options for the ICP-SLAM application.

See also

ICP_params

Definition at line 86 of file CMetricMapBuilderICP.h.

Referenced by initialize(), processObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().

ICP_params

CICP::TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_params

Options for the ICP algorithm itself.

See also

ICP_options

Definition at line 88 of file CMetricMapBuilderICP.h.

Referenced by processObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

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.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

m_auxAccumOdometry

mrpt::poses::CPose2D mrpt::slam::CMetricMapBuilderICP::m_auxAccumOdometry

private

Definition at line 175 of file CMetricMapBuilderICP.h.

Referenced by initialize(), and processActionObservation().

m_distSinceLastICP

TDist mrpt::slam::CMetricMapBuilderICP::m_distSinceLastICP

private

Definition at line 188 of file CMetricMapBuilderICP.h.

Referenced by accumulateRobotDisplacementCounters(), initialize(), processObservation(), and resetRobotDisplacementCounters().

m_distSinceLastInsertion

std::map<std::string, TDist> mrpt::slam::CMetricMapBuilderICP::m_distSinceLastInsertion

private

Indexed by sensor label.

Definition at line 190 of file CMetricMapBuilderICP.h.

Referenced by accumulateRobotDisplacementCounters(), initialize(), processObservation(), and resetRobotDisplacementCounters().

m_estRobotPath

std::deque<mrpt::math::TPose2D> mrpt::slam::CMetricMapBuilderICP::m_estRobotPath

private

The estimated robot path:

Definition at line 174 of file CMetricMapBuilderICP.h.

Referenced by initialize(), processObservation(), and saveCurrentEstimationToImage().

m_lastPoseEst

mrpt::poses::CRobot2DPoseEstimator mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst

private

The pose estimation by the alignment algorithm (ICP).

Last pose estimation (Mean)

Definition at line 168 of file CMetricMapBuilderICP.h.

Referenced by getCurrentPoseEstimation(), initialize(), and processObservation().

m_lastPoseEst_cov

mrpt::math::CMatrixDouble33 mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst_cov

private

Last pose estimation (covariance)

Definition at line 170 of file CMetricMapBuilderICP.h.

Referenced by getCurrentPoseEstimation(), and processObservation().

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

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().

m_there_has_been_an_odometry

bool mrpt::slam::CMetricMapBuilderICP::m_there_has_been_an_odometry {false}

private

Definition at line 191 of file CMetricMapBuilderICP.h.

Referenced by initialize(), and processObservation().

metricMap

mrpt::maps::CMultiMetricMap mrpt::slam::CMetricMapBuilderICP::metricMap

private

The metric map representation as a points map:

Definition at line 161 of file CMetricMapBuilderICP.h.

Referenced by getCurrentlyBuiltMetricMap(), getCurrentMapPoints(), initialize(), processObservation(), and saveCurrentEstimationToImage().

options

TOptions mrpt::slam::CMetricMapBuilder::options

inherited

Definition at line 141 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilder::enableMapUpdating(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), processObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().

SF_Poses_seq

mrpt::maps::CSimpleMap mrpt::slam::CMetricMapBuilderICP::SF_Poses_seq

private

The set of observations that leads to current map:

Definition at line 158 of file CMetricMapBuilderICP.h.

Referenced by getCurrentlyBuiltMap(), getCurrentlyBuiltMapSize(), initialize(), and processObservation().