Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >

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.

See also: getNearbyNodesOf

Map type: 2D
MRPT rawlog format: #1, #2
Graph Type: CPosePDFGaussianInf
Observations: CObservation2DRangeScan, CObservation3DRangeScan
Edge Registration Strategy: ICP Goodnesss threshold

The configuration parameters of the current decider class are listed below. These parameters are parsed from an external .ini configuration file from their respective section. If an optional parameter is not found a default value is used instead. If a mandatory/required parameter is not found a runtime error is raised. For a sample configuration file see $mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt according to the path of your mrpt source directory).

class_verbosity
- Section : EdgeRegistrationDeciderParameters
- default value : 1 (mrpt::system::LVL_INFO)
- Required : FALSE
LC_min_nodeid_diff
- Section : GeneralConfiguration
- Default value : 30
- Required : FALSE
- Description : Minimum NodeID difference for an edge to be considered a loop closure.
ICP_max_distance
- Section : EdgeRegistrationDeciderParameters
- Default value : 10 // meters
- Required : FALSE
- Description : Maximum distance for scan-matching. Decider tries to align the laser scans of the current node and each of the previous nodes that are found within the designated ICP_max_distance.
ICP_goodness_thresh
- Section : EdgeRegistrationDeciderParameters
- Default value : 0.75
- Required : FALSE
- Description : Threshold for accepting a scan-matching edge between the current and previous nodes
visualize_laser_scans
- Section : VisualizationParameters
- Default value : TRUE
- Required : FALSE
scans_img_external_dir
- Section : EdgeRegistrationDeciderParameters
- Default value : . (current directory)
- Required : FALSE
- Description : Only applicable in datasets with 3DRangeScans that are externally stored (not stored in the given .rawlog file).

Definition at line 93 of file CICPCriteriaERD.h.

#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>

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

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)

Member Typedef Documentation

◆ constraint_t

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

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::constraint_t = typename GRAPH_T::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 101 of file CICPCriteriaERD.h.

◆ decider_t

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

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::decider_t = CICPCriteriaERD<GRAPH_T>

self type - Handy type

Definition at line 107 of file CICPCriteriaERD.h.

◆ nodes_to_scans2D_t

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

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.

◆ parent

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

using mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::parent = mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T>

inherited

Handy typedefs.

Parent of current class

Definition at line 43 of file CEdgeRegistrationDecider.h.

◆ parent_t

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

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T>

Definition at line 104 of file CICPCriteriaERD.h.

◆ pose_t

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

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.

◆ range_ops_t

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

using mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::range_ops_t = typename parent_t::range_ops_t

Definition at line 105 of file CICPCriteriaERD.h.

Constructor & Destructor Documentation

◆ CICPCriteriaERD()

template<class GRAPH_T >

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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◆ ~CICPCriteriaERD()

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

mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::~CICPCriteriaERD ( )

overridedefault

Member Function Documentation

◆ 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 74 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkIfInvalidDataset()

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

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkIfInvalidDataset	(	mrpt::obs::CActionCollection::Ptr	action,
		mrpt::obs::CSensoryFrame::Ptr	observations,
		mrpt::obs::CObservation::Ptr	observation
	)

protected

◆ checkRegistrationCondition() [1/2]

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

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition	(	mrpt::graphs::TNodeID	from,
		mrpt::graphs::TNodeID	to
	)

inlineprotectedvirtualinherited

Definition at line 72 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition() [2/2]

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

virtual void mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::checkRegistrationCondition ( const std::set< mrpt::graphs::TNodeID > & )

inlineprotectedvirtualinherited

Definition at line 76 of file CEdgeRegistrationDecider.h.

◆ checkRegistrationCondition2D()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition2D ( const std::set< mrpt::graphs::TNodeID > & nodes_set )

protected

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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◆ checkRegistrationCondition3D()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::checkRegistrationCondition3D ( const std::set< mrpt::graphs::TNodeID > & nodes_set )

protected

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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◆ convert3DTo2DRangeScan()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan	(	mrpt::obs::CObservation3DRangeScan::Ptr &	scan3D_in,
		mrpt::obs::CObservation2DRangeScan::Ptr *	scan2D_out
	)

protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns: True if operation was successful, false otherwise

Definition at line 133 of file CRangeScanOps_impl.h.

References mrpt::obs::CObservation2DRangeScan::Create(), MRPT_END, MRPT_START, and params.

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◆ decimatePointsMap()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::decimatePointsMap	(	mrpt::maps::CPointsMap *	m,
		size_t	keep_point_every = `4`,
		size_t	low_lim = `0`
	)

protectedinherited

Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.

Note: If low_lim is set then the PointsMap will contain at least low_lim measurements, regardless of keep_point_every value. Set low_lim to 0 if no lower limit is to be specified

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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◆ 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.

◆ dumpVisibilityErrorMsg()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::dumpVisibilityErrorMsg	(	std::string	viz_flag,
		int	sleep_time = `500`
	)

protected

Definition at line 533 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_LOG_ERROR_FMT, and MRPT_START.

◆ getClassName()

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

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

inlineinherited

Definition at line 134 of file CRegistrationDeciderOrOptimizer.h.

◆ getDescriptiveReport()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getDescriptiveReport ( std::string * report_str ) const

overridevirtual

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 >.

Definition at line 578 of file CICPCriteriaERD_impl.h.

References MRPT_END, and MRPT_START.

◆ getEdgesStats()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getEdgesStats ( std::map< std::string, int > * edge_type_to_num ) const

overridevirtual

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.

◆ getICPEdge() [1/2]

template<class GRAPH_T >

void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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`
	)

protectedinherited

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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◆ getICPEdge() [2/2]

template<class GRAPH_T >

void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::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`
	)

protectedinherited

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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◆ 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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◆ getNearbyNodesOf()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::getNearbyNodesOf	(	std::set< mrpt::graphs::TNodeID > *	nodes_set,
		const mrpt::graphs::TNodeID &	cur_nodeID,
		double	distance
	)

protected

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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◆ 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 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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◆ initializeVisuals()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::initializeVisuals ( )

overridevirtual

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 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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◆ 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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◆ isMultiRobotSlamClass()

template<class GRAPH_T >

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::isMultiRobotSlamClass ( )

inherited

Definition at line 123 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ justInsertedLoopClosure()

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

virtual bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::justInsertedLoopClosure ( ) const

inlinevirtualinherited

Used by the caller to query for possible loop closures in the last edge registration procedure.

Definition at line 60 of file CEdgeRegistrationDecider.h.

◆ loadParams()

template<class GRAPH_T >

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

overridevirtual

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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◆ 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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◆ notifyOfWindowEvents()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::notifyOfWindowEvents ( const std::map< std::string, bool > & events_occurred )

overridevirtual

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.

◆ printParams()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams ( ) const

overridevirtual

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.

◆ registerNewEdge()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::registerNewEdge	(	const mrpt::graphs::TNodeID &	from,
		const mrpt::graphs::TNodeID &	to,
		const constraint_t &	rel_edge
	)

overrideprotectedvirtual

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.

◆ setClassName()

template<class GRAPH_T >

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

virtualinherited

Definition at line 35 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ setCriticalSectionPtr()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::setCriticalSectionPtr ( std::mutex * graph_section )

virtualinherited

Fetch a std::mutex 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 58 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 116 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ 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 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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◆ 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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◆ 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

Definition at line 44 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ toggleLaserScansVisualization()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::toggleLaserScansVisualization ( )

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.

◆ updateState()

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

bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateState	(	mrpt::obs::CActionCollection::Ptr	action,
		mrpt::obs::CSensoryFrame::Ptr	observations,
		mrpt::obs::CObservation::Ptr	observation
	)

overridevirtual

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns: True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

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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◆ updateVisuals()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals ( )

overridevirtual

Update the relevant visual features in CDisplayWindow.

Exceptions

std::exception If the method is called without having first provided a CDisplayWindow3D* to the class instance

See also: setWindowManagerPtr, initializeVisuals

Reimplemented 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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◆ 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

◆ header_sep

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

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep

staticprotectedinherited

Initial value:

=

std::string(80, '-')

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().

◆ is_mr_slam_class

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

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::is_mr_slam_class = false

protectedinherited

Boolean indicating if the current class can be used in multi-robot SLAM operations.

Definition at line 167 of file CRegistrationDeciderOrOptimizer.h.

◆ 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_class_name

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

std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_class_name = "CRegistrationDeciderOrOptimizer"

protectedinherited

Name of the class instance.

Definition at line 163 of file CRegistrationDeciderOrOptimizer.h.

Referenced by mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_t >::getClassName().

◆ m_edge_types_to_nums

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

std::map<std::string, int> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_edge_types_to_nums

protected

Definition at line 203 of file CICPCriteriaERD.h.

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

◆ m_fake_laser_scan2D

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

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_fake_laser_scan2D

protected

Definition at line 210 of file CICPCriteriaERD.h.

◆ m_graph

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

GRAPH_T* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph = nullptr

protectedinherited

Pointer to the graph that is under construction.

Definition at line 142 of file CRegistrationDeciderOrOptimizer.h.

◆ m_graph_section

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

std::mutex* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_graph_section = nullptr

protectedinherited

Definition at line 143 of file CRegistrationDeciderOrOptimizer.h.

◆ m_initialized_visuals

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

bool mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_initialized_visuals = false

protectedinherited

Definition at line 157 of file CRegistrationDeciderOrOptimizer.h.

◆ m_is_using_3DScan

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

bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_is_using_3DScan {false}

protected

Definition at line 204 of file CICPCriteriaERD.h.

◆ m_just_inserted_lc

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

bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_just_inserted_lc = false

protectedinherited

Definition at line 90 of file CEdgeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t >::justInsertedLoopClosure().

◆ m_laser_scans_color

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

mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_laser_scans_color

protected

see Constructor for initialization

Definition at line 195 of file CICPCriteriaERD.h.

◆ m_last_laser_scan2D

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

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan2D

protected

Definition at line 206 of file CICPCriteriaERD.h.

◆ m_last_laser_scan3D

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

mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_last_laser_scan3D

protected

Definition at line 207 of file CICPCriteriaERD.h.

◆ m_last_total_num_nodes

template<class GRAPH_T >

size_t mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::m_last_total_num_nodes = 0

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().

◆ 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_nodes_to_laser_scans2D

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

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans2D

protected

Definition at line 200 of file CICPCriteriaERD.h.

◆ m_nodes_to_laser_scans3D

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

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr> mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_nodes_to_laser_scans3D

protected

Definition at line 202 of file CICPCriteriaERD.h.

◆ m_offset_y_search_disk

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

double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_offset_y_search_disk

protected

Definition at line 196 of file CICPCriteriaERD.h.

◆ m_override_registered_nodes_check

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

bool mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >::m_override_registered_nodes_check = false

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.

◆ m_search_disk_color

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

mrpt::img::TColor mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_search_disk_color

protected

see Constructor for initialization

Definition at line 193 of file CICPCriteriaERD.h.

◆ m_text_index_search_disk

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

int mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::m_text_index_search_disk

protected

Definition at line 197 of file CICPCriteriaERD.h.

◆ m_time_logger

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

mrpt::system::CTimeLogger mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger

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().

◆ m_win

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

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win = nullptr

protectedinherited

Window to use.

Definition at line 153 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_manager

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

mrpt::graphslam::CWindowManager* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_manager = nullptr

protectedinherited

Pointer to the CWindowManager object used to store visuals-related instances.

Definition at line 151 of file CRegistrationDeciderOrOptimizer.h.

◆ m_win_observer

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

mrpt::graphslam::CWindowObserver* mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_win_observer = nullptr

protectedinherited

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 156 of file CRegistrationDeciderOrOptimizer.h.

◆ params

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

TParams mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::params

Definition at line 161 of file CICPCriteriaERD.h.

◆ report_sep

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

const std::string mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep

staticprotectedinherited

Initial value:

=

std::string(2, '\n')

Definition at line 172 of file CRegistrationDeciderOrOptimizer.h.

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

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf> class mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Logging methods

Member Typedef Documentation

◆ constraint_t

◆ decider_t

◆ nodes_to_scans2D_t

◆ parent

◆ parent_t

◆ pose_t

◆ range_ops_t

Constructor & Destructor Documentation

◆ CICPCriteriaERD()

◆ ~CICPCriteriaERD()

Member Function Documentation

◆ assertVisualsVars()

◆ checkIfInvalidDataset()

◆ checkRegistrationCondition() [1/2]

◆ checkRegistrationCondition() [2/2]

◆ checkRegistrationCondition2D()

◆ checkRegistrationCondition3D()

◆ convert3DTo2DRangeScan()

◆ decimatePointsMap()

◆ dumpLogToConsole()

◆ dumpVisibilityErrorMsg()

◆ getClassName()

◆ getDescriptiveReport()

◆ getEdgesStats()

◆ getICPEdge() [1/2]

◆ getICPEdge() [2/2]

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNearbyNodesOf()

◆ initializeLoggers()

◆ initializeVisuals()

◆ isLoggingLevelVisible()

◆ isMultiRobotSlamClass()

◆ justInsertedLoopClosure()

◆ loadParams()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ notifyOfWindowEvents()

◆ printParams()

◆ registerNewEdge()

◆ setClassName()

◆ setCriticalSectionPtr()

◆ setGraphPtr()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ setWindowManagerPtr()

◆ toggleLaserScansVisualization()

◆ updateState()

◆ updateVisuals()

◆ writeLogToFile()

Member Data Documentation

◆ header_sep

◆ is_mr_slam_class

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_class_name

◆ m_edge_types_to_nums

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >