Detailed Description

Finds partitions in metric maps based on N-cut graph partition theory.

Definition at line 54 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

Classes
struct	TOptions
	Configuration parameters. More...

Public Member Functions
	CIncrementalMapPartitioner ()
	ctor More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Change Coordinates System
Change the coordinate origin of all stored poses Used for consistency with future new poses to enter in the system.
void	changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)

void	changeCoordinatesOriginPoseIndex (unsigned int newOriginPose)
	The new origin is given by the index of the pose that is to become the new origin. More...

void	setSimilarityMethod (similarity_method_t method)
	Select the similarity method to use for newly inserted keyframes. More...

void	setSimilarityMethod (similarity_func_t func)
	Sets a custom function for the similarity of new keyframes. More...

Access API to internal graph data
void	getAs3DScene (mrpt::opengl::CSetOfObjects::Ptr &objs, const std::map< uint32_t, int64_t > *renameIndexes=nullptr) const
	Return a 3D representation of the graph: poses & links between them. More...

template<class MATRIX >
void	getAdjacencyMatrix (MATRIX &outMatrix) const
	Return a copy of the adjacency matrix. More...

const mrpt::math::CMatrixDouble &	getAdjacencyMatrix () const
	Return a const ref to the internal adjacency matrix. More...

const mrpt::maps::CSimpleMap *	getSequenceOfFrames () const
	Read-only access to the sequence of Sensory Frames. More...

mrpt::maps::CSimpleMap *	getSequenceOfFrames ()
	Access to the sequence of Sensory Frames. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. 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...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Private Attributes
mrpt::maps::CSimpleMap	m_individualFrames

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

mrpt::math::CMatrixD	m_A {0, 0}
	Adjacency matrix. More...

std::vector< std::vector< uint32_t > >	m_last_partition
	The last partition. More...

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

similarity_func_t	m_sim_func

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::slam ::CIncrementalMapPartitioner >

using	ConstPtr = std::shared_ptr< const mrpt::slam ::CIncrementalMapPartitioner >

using	UniquePtr = std::unique_ptr< mrpt::slam ::CIncrementalMapPartitioner >

using	ConstUniquePtr = std::unique_ptr< const mrpt::slam ::CIncrementalMapPartitioner >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::slam" "::" "CIncrementalMapPartitioner"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Main map partition API
TOptions	options
	Algorithm parameters. More...

void	clear ()

uint32_t	addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::CPose3DPDF &robotPose3D)
	Insert a new keyframe to the graph. More...

void	updatePartitions (std::vector< std::vector< uint32_t >> &partitions)
	Recalculate the map/graph partitions. More...

size_t	getNodesCount ()
	Get the total node count currently in the internal map/graph. More...

void	removeSetOfNodes (std::vector< uint32_t > indexesToRemove, bool changeCoordsRef=true)
	Remove a list of keyframes, with indices as returned by addMapFrame() More...

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

◆ ConstPtr

using mrpt::slam::CIncrementalMapPartitioner::ConstPtr = std::shared_ptr<const mrpt::slam :: CIncrementalMapPartitioner >

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ ConstUniquePtr

using mrpt::slam::CIncrementalMapPartitioner::ConstUniquePtr = std::unique_ptr<const mrpt::slam :: CIncrementalMapPartitioner >

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ Ptr

using mrpt::slam::CIncrementalMapPartitioner::Ptr = std::shared_ptr< mrpt::slam :: CIncrementalMapPartitioner >

A type for the associated smart pointer

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ UniquePtr

using mrpt::slam::CIncrementalMapPartitioner::UniquePtr = std::unique_ptr< mrpt::slam :: CIncrementalMapPartitioner >

Definition at line 58 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner ( )

inline

ctor

Definition at line 62 of file CIncrementalMapPartitioner.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ addMapFrame()

uint32_t CIncrementalMapPartitioner::addMapFrame	(	const mrpt::obs::CSensoryFrame &	frame,
		const mrpt::poses::CPose3DPDF &	robotPose3D
	)

Insert a new keyframe to the graph.

Call this method each time a new observation is added to the map/graph. Afterwards, call updatePartitions() to get the updated partitions.

Parameters

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

Returns: The index of the new pose in the graph, which can be used to refer to this pose in the future.

See also: updatePartitions

Definition at line 120 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, eval_similarity_metric_map_matching(), eval_similarity_observation_overlap(), mrpt::obs::CSensoryFrame::insertObservationsInto(), mrpt::slam::map_keyframe_t::kf_id, mrpt::slam::map_keyframe_t::metric_map, MRPT_END, MRPT_START, mrpt::slam::map_keyframe_t::raw_observations, mrpt::slam::smCUSTOM_FUNCTION, mrpt::slam::smMETRIC_MAP_MATCHING, mrpt::slam::smOBSERVATION_OVERLAP, and THROW_EXCEPTION.

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

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◆ changeCoordinatesOrigin()

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

Definition at line 339 of file CIncrementalMapPartitioner.cpp.

◆ changeCoordinatesOriginPoseIndex()

void CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex ( unsigned int newOriginPose )

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

Definition at line 345 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, and MRPT_START.

◆ clear()

void CIncrementalMapPartitioner::clear ( )

Definition at line 111 of file CIncrementalMapPartitioner.cpp.

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

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::slam::CIncrementalMapPartitioner::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::slam::CIncrementalMapPartitioner::Create ( Args &&... args )

inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::slam::CIncrementalMapPartitioner::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::slam::CIncrementalMapPartitioner::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::slam::CIncrementalMapPartitioner::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ 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.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getAdjacencyMatrix() [1/2]

template<class MATRIX >

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

inline

Return a copy of the adjacency matrix.

Definition at line 188 of file CIncrementalMapPartitioner.h.

References m_A.

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

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◆ getAdjacencyMatrix() [2/2]

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

inline

Return a const ref to the internal adjacency matrix.

Definition at line 194 of file CIncrementalMapPartitioner.h.

References m_A.

◆ getAs3DScene()

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

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

The previous contents of "objs" will be discarded

Definition at line 361 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, mrpt::opengl::CGridPlaneXY::Create(), mrpt::format(), mrpt::keep_max(), mrpt::keep_min(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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

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◆ getClassName()

static constexpr auto mrpt::slam::CIncrementalMapPartitioner::getClassName ( )

inlinestatic

Definition at line 58 of file CIncrementalMapPartitioner.h.

◆ 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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◆ getNodesCount()

size_t CIncrementalMapPartitioner::getNodesCount ( )

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

Definition at line 255 of file CIncrementalMapPartitioner.cpp.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClassIdStatic ( )

static

◆ getSequenceOfFrames() [1/2]

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

inline

Read-only access to the sequence of Sensory Frames.

Definition at line 196 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ getSequenceOfFrames() [2/2]

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

inline

Access to the sequence of Sensory Frames.

Definition at line 202 of file CIncrementalMapPartitioner.h.

References m_individualFrames.

◆ 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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◆ 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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◆ removeSetOfNodes()

void CIncrementalMapPartitioner::removeSetOfNodes	(	std::vector< uint32_t >	indexesToRemove,
		bool	changeCoordsRef = `true`
	)

Remove a list of keyframes, with indices as returned by addMapFrame()

Parameters

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

Definition at line 260 of file CIncrementalMapPartitioner.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ serializeFrom() [1/2]

void CIncrementalMapPartitioner::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 438 of file CIncrementalMapPartitioner.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CIncrementalMapPartitioner::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 461 of file CIncrementalMapPartitioner.cpp.

◆ serializeTo() [1/2]

void CIncrementalMapPartitioner::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 462 of file CIncrementalMapPartitioner.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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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 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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◆ setSimilarityMethod() [1/2]

void mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod ( similarity_method_t method )

inline

Select the similarity method to use for newly inserted keyframes.

Definition at line 164 of file CIncrementalMapPartitioner.h.

References options, and mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method.

◆ setSimilarityMethod() [2/2]

void mrpt::slam::CIncrementalMapPartitioner::setSimilarityMethod ( similarity_func_t func )

inline

Sets a custom function for the similarity of new keyframes.

Definition at line 170 of file CIncrementalMapPartitioner.h.

References m_sim_func, options, mrpt::slam::CIncrementalMapPartitioner::TOptions::simil_method, and mrpt::slam::smCUSTOM_FUNCTION.

◆ 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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◆ updatePartitions()

void CIncrementalMapPartitioner::updatePartitions ( std::vector< std::vector< uint32_t >> & partitions )

Recalculate the map/graph partitions.

See also: addMapFrame()

Definition at line 237 of file CIncrementalMapPartitioner.cpp.

References MRPT_END, and MRPT_START.

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

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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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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::slam::CIncrementalMapPartitioner::className = "mrpt::slam" "::" "CIncrementalMapPartitioner"

static

Definition at line 58 of file CIncrementalMapPartitioner.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_A

mrpt::math::CMatrixD mrpt::slam::CIncrementalMapPartitioner::m_A {0, 0}

private

Adjacency matrix.

Definition at line 213 of file CIncrementalMapPartitioner.h.

Referenced by getAdjacencyMatrix().

◆ m_individualFrames

mrpt::maps::CSimpleMap mrpt::slam::CIncrementalMapPartitioner::m_individualFrames

private

Definition at line 209 of file CIncrementalMapPartitioner.h.

Referenced by getSequenceOfFrames().

◆ m_individualMaps

std::deque<mrpt::maps::CMultiMetricMap::Ptr> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps

private

Definition at line 210 of file CIncrementalMapPartitioner.h.

◆ m_last_last_partition_are_new_ones

bool mrpt::slam::CIncrementalMapPartitioner::m_last_last_partition_are_new_ones {false}

private

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

Definition at line 220 of file CIncrementalMapPartitioner.h.

◆ m_last_partition

std::vector<std::vector<uint32_t> > mrpt::slam::CIncrementalMapPartitioner::m_last_partition

private

The last partition.

Definition at line 216 of file CIncrementalMapPartitioner.h.

◆ 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_sim_func

similarity_func_t mrpt::slam::CIncrementalMapPartitioner::m_sim_func

private

Definition at line 222 of file CIncrementalMapPartitioner.h.

Referenced by setSimilarityMethod().

◆ options

TOptions mrpt::slam::CIncrementalMapPartitioner::options

Algorithm parameters.

Definition at line 117 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::slam::CRangeBearingKFSLAM::loadOptions(), mrpt::slam::CRangeBearingKFSLAM::mapPartitionOptions(), mrpt::slam::CRangeBearingKFSLAM::reset(), setSimilarityMethod(), and TEST().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::slam::CIncrementalMapPartitioner::runtimeClassId

staticprotected

Definition at line 58 of file CIncrementalMapPartitioner.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

RTTI stuff

Main map partition API

Logging methods

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

Member Function Documentation

◆ _GetBaseClass()

◆ addMapFrame()

◆ changeCoordinatesOrigin()

◆ changeCoordinatesOriginPoseIndex()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ dumpLogToConsole()

◆ duplicateGetSmartPtr()

◆ getAdjacencyMatrix() [1/2]

◆ getAdjacencyMatrix() [2/2]

◆ getAs3DScene()

◆ getClassName()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNodesCount()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSequenceOfFrames() [1/2]

◆ getSequenceOfFrames() [2/2]

◆ isLoggingLevelVisible()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ removeSetOfNodes()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setSimilarityMethod() [1/2]

◆ setSimilarityMethod() [2/2]

◆ setVerbosityLevel()

◆ updatePartitions()

◆ writeLogToFile()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_A

◆ m_individualFrames

◆ m_individualMaps

◆ m_last_last_partition_are_new_ones

◆ m_last_partition

◆ m_min_verbosity_level

◆ m_sim_func

◆ options