MRPT
2.0.2
|
RBPF-SLAM virtual base class for application wrappers.
This virtual base provides the common code to the application rbpf-slam. It can be used by users to build their own RBPF-SLAM solution.
Definition at line 31 of file RBPF_SLAM_App.h.
#include <mrpt/apps/RBPF_SLAM_App.h>
Public Member Functions | |
RBPF_SLAM_App_Base () | |
Main API | |
void | initialize (int argc, const char **argv) |
Initializes the application from CLI parameters. More... | |
void | initialize (int argc, char **argv) |
void | run () |
Runs with the current parameter set. 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 | |
Parameters and options. See: initialize() | |
mrpt::config::CConfigFileMemory | params |
Populated in initialize(). More... | |
bool | quits_with_esc_key = true |
If enabled (default), stdin will be watched and application quits if ESC is pressed. More... | |
Outputs and result variables | |
std::shared_ptr< mrpt::slam::CMetricMapBuilderRBPF > | mapBuilder |
std::map< mrpt::system::TTimeStamp, mrpt::math::TPose3D > | out_estimated_path |
Protected Member Functions | |
virtual void | impl_initialize (int argc, const char **argv)=0 |
virtual std::string | impl_get_usage () const =0 |
virtual bool | impl_get_next_observations (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation)=0 |
Get next sensory data. More... | |
Protected Attributes | |
VerbosityLevel | m_min_verbosity_level {LVL_INFO} |
Provided messages with VerbosityLevel smaller than this value shall be ignored. 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) |
RBPF_SLAM_App_Base::RBPF_SLAM_App_Base | ( | ) |
Definition at line 40 of file RBPF_SLAM_App.cpp.
References mrpt::system::COutputLogger::setLoggerName().
|
inherited |
Dump the current contents of the COutputLogger instance in the terminal window.
Definition at line 190 of file COutputLogger.cpp.
|
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.
|
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().
|
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().
|
inherited |
Fill inputtted string with the contents of the last message in history.
Definition at line 201 of file COutputLogger.cpp.
|
inherited |
Return the name of the COutputLogger instance.
Definition at line 143 of file COutputLogger.cpp.
|
inlineinherited |
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(), run(), and mrpt::apps::ICP_SLAM_App_Base::run().
|
protectedpure virtualinherited |
Get next sensory data.
Return false on any error, true if success.
Implemented in mrpt::apps::ICP_SLAM_App_Live, and mrpt::apps::DataSourceRawlog.
Referenced by mrpt::apps::ICP_SLAM_App_Base::run(), and run().
|
protectedpure virtualinherited |
Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.
Referenced by mrpt::apps::ICP_SLAM_App_Live::impl_initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and initialize().
|
protectedpure virtualinherited |
Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.
Referenced by mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and initialize().
void RBPF_SLAM_App_Base::initialize | ( | int | argc, |
const char ** | argv | ||
) |
Initializes the application from CLI parameters.
Refer to the manpage of rbpf-slam. Throws on errors.
Definition at line 46 of file RBPF_SLAM_App.cpp.
References argc, argv, ASSERT_FILE_EXISTS_, mrpt::io::file_get_contents(), mrpt::apps::BaseAppInitializableCLI::impl_get_usage(), mrpt::apps::BaseAppInitializableCLI::impl_initialize(), MRPT_END, mrpt::system::MRPT_getCompilationDate(), mrpt::system::MRPT_getVersion(), MRPT_LOG_INFO_FMT, MRPT_START, params, mrpt::config::CConfigFileMemory::setContent(), and THROW_EXCEPTION_FMT.
Referenced by generic_rbpf_slam_test(), and initialize().
|
inline |
Definition at line 46 of file RBPF_SLAM_App.h.
References argc, argv, and initialize().
|
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().
|
inherited |
Log the given message only if the condition is satisfied.
Definition at line 131 of file COutputLogger.cpp.
|
inherited |
Definition at line 291 of file COutputLogger.cpp.
References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.
|
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
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().
|
inherited |
Reset the contents of the logger instance.
Called upon construction.
Definition at line 206 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
|
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().
|
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().
|
inherited |
Definition at line 278 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::m_listCallbacks.
|
inherited |
Main method to add the specified message string to the logger.
Definition at line 72 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.
Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().
void RBPF_SLAM_App_Base::run | ( | ) |
Runs with the current parameter set.
Throws on errors.
Definition at line 73 of file RBPF_SLAM_App.cpp.
References mrpt::serialization::archiveFrom(), ASSERT_, ASSERTMSG_, mrpt::poses::CPose3D::asTPose(), mrpt::math::MatrixBase< Scalar, Derived >::blockCopy(), mrpt::maps::CMultiMetricMap::countMapsByClass(), mrpt::poses::CPosePDFGaussian::cov, mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CSetOfLines::Create(), mrpt::opengl::CCamera::Create(), mrpt::opengl::CEllipsoid3D::Create(), mrpt::opengl::CEllipsoid2D::Create(), mrpt::system::createDirectory(), mrpt::DEG2RAD(), mrpt::system::deleteFilesInDirectory(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedArea, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::effectiveMappedCells, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::ESS(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::format(), mrpt::system::os::fprintf(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::system::os::getch(), mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::system::getMemoryUsage(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::random::getRandomGenerator(), mrpt::maps::COccupancyGridMap2D::TEntropyInfo::H, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::I, mrpt::apps::BaseAppDataSource::impl_get_next_observations(), IS_CLASS, mrpt::system::os::kbhit(), mrpt::config::CConfigFileBase::keyExists(), mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile(), mrpt::system::LVL_INFO, mapBuilder, mrpt::maps::CMultiMetricMap::mapByClass(), mrpt::maps::CRBPFParticleData::mapTillNow, mrpt::poses::CPosePDFGaussian::mean, mrpt::maps::COccupancyGridMap2D::TEntropyInfo::mean_I, MRPT_END, MRPT_LOAD_CONFIG_VAR_CS, MRPT_LOG_DEBUG, MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, MRPT_START, out_estimated_path, params, mrpt::math::TPose2D::phi, mrpt::poses::CPose2D::phi(), mrpt::poses::CPose3D::pitch(), mrpt::io::CStream::printf(), quits_with_esc_key, mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_string(), mrpt::poses::CPose3D::roll(), mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile(), mrpt::img::CImage::saveToFile(), mrpt::poses::CPose3DPDFParticles::saveToTextFile(), sect, mrpt::system::COutputLogger::setMinLoggingLevel(), mrpt::math::MatrixVectorBase< Scalar, Derived >::setZero(), mrpt::poses::CPose3DPDFParticles::size(), mrpt::system::os::sprintf(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::Clock::toDouble(), mrpt::math::TPose2D::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPose2D::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by generic_rbpf_slam_test().
|
inherited |
Set the name of the COutputLogger instance.
Definition at line 138 of file COutputLogger.cpp.
Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().
|
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(), run(), and mrpt::apps::ICP_SLAM_App_Base::run().
|
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().
|
inherited |
Write the contents of the COutputLogger instance to an external file.
Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided
Definition at line 165 of file COutputLogger.cpp.
References ASSERTMSG_, and mrpt::format().
|
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.
|
inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 243 of file system/COutputLogger.h.
|
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().
std::shared_ptr<mrpt::slam::CMetricMapBuilderRBPF> mrpt::apps::RBPF_SLAM_App_Base::mapBuilder |
Definition at line 72 of file RBPF_SLAM_App.h.
Referenced by run().
std::map<mrpt::system::TTimeStamp, mrpt::math::TPose3D> mrpt::apps::RBPF_SLAM_App_Base::out_estimated_path |
Definition at line 74 of file RBPF_SLAM_App.h.
Referenced by run().
mrpt::config::CConfigFileMemory mrpt::apps::RBPF_SLAM_App_Base::params |
Populated in initialize().
Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.
Definition at line 62 of file RBPF_SLAM_App.h.
Referenced by generic_rbpf_slam_test(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), initialize(), and run().
bool mrpt::apps::RBPF_SLAM_App_Base::quits_with_esc_key = true |
If enabled (default), stdin will be watched and application quits if ESC is pressed.
Definition at line 66 of file RBPF_SLAM_App.h.
Referenced by run().
Page generated by Doxygen 1.8.14 for MRPT 2.0.2 Git: 9b4fd2465 Mon May 4 16:59:08 2020 +0200 at lun may 4 17:26:07 CEST 2020 |