35 class CLSLAMAlgorithmBase;
36 class CLSLAM_RBPF_2DLASER;
65 class CHMTSLAM :
public mrpt::utils::COutputLogger,
97 using Ptr = std::shared_ptr<TMessageLSLAMfromAA>;
113 using Ptr = std::shared_ptr<TMessageLSLAMtoTBI>;
127 using Ptr = std::shared_ptr<TMessageLSLAMfromTBI>;
578 template <
class PF_ALGORITHM>
float MIN_ODOMETRY_STD_PHI
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) ...
int random_seed
0 means randomize, use any other value to have repetitive experiments.
float MIN_ODOMETRY_STD_XY
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) ...
CLSLAMAlgorithmBase * m_LSLAM_method
An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" o...
void dumpToStdOut() const
For debugging purposes!
void perform_TLC(CLocalMetricHypothesis &LMH, const CHMHMapNode::TNodeID areaInLMH, const CHMHMapNode::TNodeID areaLoopClosure, const mrpt::poses::CPose3DPDFGaussian &pose1wrt2)
Topological Loop Closure: Performs all the required operations to close a loop between two areas whic...
void pushObservation(const mrpt::obs::CObservation::Ptr &obs)
Here the user can enter an observation into the system (will go to the SLAM process).
Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.
void thread_LSLAM()
The function for the "Local SLAM" thread.
std::map< CHMHMapNode::TNodeID, TBI_info > loopClosureData
The meat is here: only feasible loop closures from "cur_area" are included here, with associated data...
int LOG_FREQUENCY
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
void dumpToTextStream(mrpt::utils::CStream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
CTopLCDetector_FabMap::TOptions TLC_fabmap_options
Options passed to this TLC constructor.
The virtual base class which provides a unified interface for all persistent objects in MRPT...
void prediction_and_update(CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection *action, const mrpt::obs::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)
static TPoseID generatePoseID()
Generates a new and unique pose ID.
static TMessageLSLAMfromTBI::Ptr TBI_main_method(CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID)
The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.
std::thread m_hThread_TBI
#define THROW_EXCEPTION(msg)
Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...
static TMessageLSLAMfromAA::Ptr areaAbstraction(CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs)
The Area Abstraction (AA) method, invoked from LSLAM.
static TPoseID m_nextPoseID
void generateLogFiles(unsigned int nIteration)
Called from LSLAM thread when log files must be created.
bool m_terminationFlag_3D_viewer
std::map< std::string, TLopLCDetectorFactory > m_registeredLCDetectors
vector_string TLC_detectors
A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': O...
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction...
Option set for KLD algorithm.
THypothesisID hypothesisID
The hypothesis ID (LMH) for these results.
std::mutex m_map_cs
Critical section for accessing m_map.
CTopLCDetector_GridMatching::TOptions TLC_grid_options
Options passed to this TLC constructor.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
aligned_containers< THypothesisID, CLocalMetricHypothesis >::map_t m_LMHs
The list of LMHs at each instant.
static THypothesisID m_nextHypID
bool m_terminateThreads
Termination flag for signaling all threads to terminate.
int findTPathBinIntoSet(TPathBin &desiredBin, std::deque< TPathBin > &theSet)
Checks if a given "TPathBin" element is already into a set of them, and return its index (first one i...
mrpt::poses::CPose3DPDFSOG delta_new_cur
Depending on the loop-closure engine, an guess of the relative pose of "area_new" relative to "cur_ar...
utils::CMessageQueue m_LSLAM_queue
LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.
Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM.
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
static int64_t m_nextAreaLabel
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
Declares a class for storing a collection of robot actions.
mrpt::utils::safe_ptr< CHMTSLAM > m_parent
Configuration of the algorithm:
This class allows loading and storing values and vectors of different types from a configuration text...
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
CLSLAMAlgorithmBase(CHMTSLAM *parent)
Constructor.
CHMTSLAM(const CHMTSLAM &)
mrpt::utils::CSerializable::Ptr getNextObjectFromInputQueue()
Used from the LSLAM thread to retrieve the next object from the queue.
CHMHMapNode::TNodeID cur_area
The area for who the loop-closure has been computed.
bool m_terminationFlag_TBI
std::vector< std::string > vector_string
A type for passing a vector of strings.
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
mrpt::slam::TKLDParams KLD_params
mrpt::aligned_containers< TPoseID, mrpt::poses::CPose3D >::map_t TMapPoseID2Pose3D
bool m_terminationFlag_LSLAM
Threads termination flags:
std::string LOG_OUTPUT_DIR
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files...
std::queue< mrpt::utils::CSerializable::Ptr > m_inputQueue
The queue of pending actions/observations supplied by the user waiting for being processed.
std::mutex m_LMHs_cs
Critical section for accessing m_LMHs.
std::mutex m_topLCdets_cs
The critical section for accessing m_topLCdets.
mrpt::maps::TSetOfMetricMapInitializers defaultMapsInitializers
The default set of maps to be created in each particle.
std::shared_ptr< TMessageLSLAMfromTBI > Ptr
std::vector< TPoseIDList > partitions
std::deque< CTopLCDetectorBase * > m_topLCdets
The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".
virtual ~CLSLAMAlgorithmBase()
Destructor.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
std::thread m_hThread_3D_viewer
std::shared_ptr< CSensoryFrame > Ptr
CHierarchicalMHMap m_map
The hiearchical, multi-hypothesis graph-based map.
THypothesisID hypothesisID
The hypothesis ID (LMH) for these results.
mrpt::hmtslam::CHMTSLAM::TOptions m_options
std::shared_ptr< CObservation > Ptr
void thread_TBI()
The function for the "TBI" thread.
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM.
This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).
A thread-safe template queue for object passing between threads; for a template argument of T...
GLsizei const GLchar ** string
void getAs3DScene(mrpt::opengl::COpenGLScene &outScene)
Gets a 3D representation of the current state of the whole mapping framework.
TLSlamMethod SLAM_METHOD
[LSLAM] The method to use for local SLAM
virtual ~CHMTSLAM()
Destructor.
std::vector< TPoseID > TPoseIDList
std::shared_ptr< CSerializable > Ptr
bayes::CParticleFilter::TParticleFilterOptions pf_options
These params are used from every LMH object.
size_t inputQueueSize()
Returns the number of objects waiting for processing in the input queue.
bool saveState(mrpt::utils::CStream &out) const
Save the state of the whole HMT-SLAM framework to some binary stream (e.g.
mrpt::math::CVectorFloat stds_Q_no_odo
A 3-length vector with the std.
A variety of options and configuration params (private, use loadOptions).
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
TOptions()
Initialization of default params.
void loadOptions(const std::string &configFile)
Loads the options from a config file.
double log_lik
Log likelihood for this loop-closure.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void loadTPathBinFromPath(TPathBin &outBin, TMapPoseID2Pose3D *path=nullptr, mrpt::poses::CPose2D *newPose=nullptr)
Fills out a "TPathBin" variable, given a path hypotesis and (if not set to nullptr) a new pose append...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void processOneLMH(CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection::Ptr &act, const mrpt::obs::CSensoryFrame::Ptr &sf)
Main entry point from HMT-SLAM: process some actions & observations.
std::shared_ptr< CActionCollection > Ptr
void LSLAM_process_message(const mrpt::utils::CMessage &msg)
Auxiliary method within thread_LSLAM.
Options for a TLC-detector of type FabMap, used from CHMTSLAM.
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM.
mrpt::slam::CIncrementalMapPartitioner::TOptions AA_options
[AA] The options for the partitioning algorithm
float VIEW3D_AREA_SPHERES_HEIGHT
[VIEW3D] The height of the areas' spheres.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
const CHMTSLAM & operator=(const CHMTSLAM &)
void LSLAM_process_message_from_TBI(const TMessageLSLAMfromTBI &myMsg)
No critical section locks are assumed at the entrance of this method.
std::shared_ptr< TMessageLSLAMtoTBI > Ptr
void clearInputQueue()
Empty the input queue.
void registerLoopClosureDetector(const std::string &name, CTopLCDetectorBase *(*ptrCreateObject)(CHMTSLAM *))
Must be invoked before calling initializeEmptyMap, so LC objects can be created.
The configuration of a particle filter.
float VIEW3D_AREA_SPHERES_RADIUS
[VIEW3D] The radius of the areas' spheres.
bool loadState(mrpt::utils::CStream &in)
Load the state of the whole HMT-SLAM framework from some binary stream (e.g.
void pushAction(const mrpt::obs::CActionCollection::Ptr &acts)
Here the user can enter an action into the system (will go to the SLAM process).
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...
GLuint const GLchar * name
This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...
GLsizei GLsizei GLchar * source
TNodeIDList areaIDs
The areas to consider.
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
static std::string generateUniqueAreaLabel()
Generates a new and unique area textual label (currently this generates "0","1",...)
CLSLAM_RBPF_2DLASER(CHMTSLAM *parent)
Constructor.
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
std::vector< int32_t > vector_int
void thread_3D_viewer()
The function for the "3D viewer" thread.
CLocalMetricHypothesis * LMH
The LMH.
bool m_insertNewRobotPose
For use within PF callback methods.
std::thread m_hThread_LSLAM
Threads handles.
float SLAM_MIN_DIST_BETWEEN_OBS
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map...
float SLAM_MIN_HEADING_BETWEEN_OBS
virtual void processOneLMH(CLocalMetricHypothesis *LMH, const mrpt::obs::CActionCollection::Ptr &act, const mrpt::obs::CSensoryFrame::Ptr &sf)=0
Main entry point from HMT-SLAM: process some actions & observations.
CTopLCDetectorBase * loopClosureDetector_factory(const std::string &name)
The class factory for topological loop closure detectors.
bool isInputQueueEmpty()
Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueu...
CHMTSLAM()
Default constructor.
std::shared_ptr< TMessageLSLAMfromAA > Ptr
virtual ~CLSLAM_RBPF_2DLASER()
Destructor.
void pushObservations(const mrpt::obs::CSensoryFrame::Ptr &sf)
Here the user can enter observations into the system (will go to the SLAM process).
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object...
static THypothesisID generateHypothesisID()
Generates a new and unique hypothesis ID.
void LSLAM_process_message_from_AA(const TMessageLSLAMfromAA &myMsg)
No critical section locks are assumed at the entrance of this method.
A wrapper class for pointers that can be safely copied with "=" operator without problems.
mrpt::utils::TNodeID TNodeID
The type of the IDs of nodes.
void dumpToConsole() const
for debugging only
std::mutex m_inputQueue_cs
Critical section for accessing m_inputQueue.
void initializeEmptyMap()
Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory...
bool abortedDueToErrors()
Return true if an exception has been caught in any thread leading to the end of the mapping applicati...