Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >

ICP-based Fixed Intervals Node Registration.

Description

Current Decider is meant for adding nodes in 2D datasets recorded using a laser range finder or RGB-D camera (e.g. Kinect). No odometry data from encoders is needed. Using ICP to match consecutive RangeScan measurements, the decider keeps track of the pose transformation since the last registered node. If the norm or the angle of the latter surpasses certain thresholds (which are read from an external .ini file) then a new node is added to the graph)

See also: loadParams, TParams::loadFromConfigFile

Decider does not guarantee thread safety when accessing the GRAPH_T resource. This is handled by the CGraphSlamEngine class.

Specifications

Map type: 2D
MRPT rawlog format: #1, #2
Graph Type: CPosePDFGaussianInf
Observations Used: CObservation2DRangeScan, CObservation3DRangeScan
Node Registration Strategy: Fixed Intervals

.ini Configuration Parameters

The configuration parameters of the current 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 : NodeRegistrationDeciderParameters
- default value : 1 (mrpt::system::LVL_INFO)
- Required : FALSE
registration_max_distance
- Section : NodeRegistrationDeciderParameters
- Default value : 0.5 // meters
- Required : FALSE
registration_max_angle
- Section : NodeRegistrationDeciderParameters
- Default value : 10 // degrees
- Required : FALSE

Note: Since the decider inherits from the CRangeScanOps class, it parses the configuration parameters of the latter as well from the "ICP" section. Refer to the CRangeScanOps documentation for its list of configuration parameters; Class contains an instance of the TSlidingWindow class and it parses the configuration parameters of the latter from the "NodeRegistrationDeciderParameters" section. Refer to TSlidingWindow documentation for its list of configuration parameters

Definition at line 85 of file CICPCriteriaNRD.h.

#include <mrpt/graphslam/NRD/CICPCriteriaNRD.h>

Inheritance diagram for mrpt::graphslam::deciders::CICPCriteriaNRD< 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	global_pose_t = typename GRAPH_T::global_pose_t

using	InfMat = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >

using	range_ops_t = mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >
	Typedef for accessing methods of the RangeScanRegistrationDecider parent class. More...

using	decider_t = CICPCriteriaNRD< GRAPH_T >
	self type More...

using	parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
	Node Registration Decider. More...


using	inf_mat_t = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >

Public Member Functions
	CICPCriteriaNRD ()
	Class constructor. More...

	~CICPCriteriaNRD ()
	Class destructor. More...

void	loadParams (const std::string &source_fname)
	Load the necessary for the decider/optimizer configuration parameters. More...

void	printParams () const
	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
	Fill the provided string with a detailed report of the decider/optimizer state. More...

bool	updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
	Update the decider state using the latest dataset measurements. More...

bool	updateState2D (mrpt::obs::CObservation2DRangeScan::Ptr observation)
	Specialized updateState method used solely when dealing with 2DRangeScan information. More...

bool	updateState3D (mrpt::obs::CObservation3DRangeScan::Ptr observation)
	Specialized updateState method used solely when dealing with 3DRangeScan information. More...

virtual global_pose_t	getCurrentRobotPosEstimation () const
	Getter method for fetching the currently estimated robot position. 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	initializeVisuals ()
	Initialize visual objects in CDisplayWindow (e.g. More...

virtual void	updateVisuals ()
	Update the relevant visual features in CDisplayWindow. More...

virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
	Get a list of the window events that happened since the last call. 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
bool	checkRegistrationCondition ()
	Check whether a new node should be registered in the graph. More...

bool	checkRegistrationCondition2D ()
	Specialized checkRegistrationCondtion method used solely when dealing with 2DRangeScan information. More...

bool	checkRegistrationCondition3D ()
	Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information. More...

void	resetPDF (constraint_t *c)
	Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix. More...

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=nullptr)
	Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More...


bool	registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)
	Utility methods for adding new poses to the graph. More...

bool	registerNewNodeAtEnd ()
	Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end. More...

virtual void	addNodeAnnotsToPose (global_pose_t *pose) const
	Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields. More...

Protected Attributes
bool	m_is_using_3DScan

constraint_t	m_latest_odometry_PDF
	Odometry rigid-body transformation since the last accepted LaserScan. More...

pose_t	m_curr_odometry_only_pose
	pose_t estimation using only odometry information. More...

pose_t	m_last_odometry_only_pose
	pose_t estimation using only odometry information. More...

TSlidingWindow	m_mahal_distance_ICP_odom
	Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements. More...

bool	m_use_angle_difference_node_reg

bool	m_use_distance_node_reg

int	m_times_used_ICP
	How many times we used the ICP Edge instead of Odometry edge. More...

int	m_times_used_odom
	How many times we used the Odometry Edge instead of the ICP edge. More...

mrpt::graphs::TNodeID	m_prev_registered_nodeID
	Store the last registered NodeID. More...

constraint_t	m_since_prev_node_PDF
	Tracking the PDF of the current position of the robot with regards to the <b previous registered node. More...

inf_mat_t	m_init_inf_mat
	Initial information matrix for paths. More...

GRAPH_T *	m_graph
	Pointer to the graph that is under construction. More...

std::mutex *	m_graph_section

mrpt::system::CTimeLogger	m_time_logger
	Time logger instance. More...

std::string	m_class_name
	Name of the class instance. More...

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

VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...


mrpt::obs::CObservation2DRangeScan::Ptr	m_last_laser_scan2D
	handy laser scans to use in the class methods More...

mrpt::obs::CObservation2DRangeScan::Ptr	m_curr_laser_scan2D
	Current LaserScan. More...

mrpt::obs::CObservation3DRangeScan::Ptr	m_last_laser_scan3D

mrpt::obs::CObservation3DRangeScan::Ptr	m_curr_laser_scan3D

Visuals-related variables methods
mrpt::graphslam::CWindowManager *	m_win_manager
	Pointer to the CWindowManager object used to store visuals-related instances. More...

mrpt::gui::CDisplayWindow3D *	m_win
	Window to use. More...

mrpt::graphslam::CWindowObserver *	m_win_observer
	CWindowObserver object for monitoring various visual-oriented events. More...

bool	m_initialized_visuals

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

void	logStr (const VerbosityLevel level, const std::string &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=NULL) 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 >

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

Handy typedefs.

type of graph constraints

Definition at line 96 of file CICPCriteriaNRD.h.

◆ decider_t

template<class GRAPH_T >

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

self type

Definition at line 107 of file CICPCriteriaNRD.h.

◆ global_pose_t

template<class GRAPH_T >

using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::global_pose_t = typename GRAPH_T::global_pose_t

Definition at line 99 of file CICPCriteriaNRD.h.

◆ inf_mat_t

template<class GRAPH_T>

using mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::inf_mat_t = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length>

inherited

Definition at line 47 of file CNodeRegistrationDecider.h.

◆ InfMat

template<class GRAPH_T >

using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::InfMat = mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length>

Definition at line 102 of file CICPCriteriaNRD.h.

◆ parent_t

template<class GRAPH_T >

using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>

Node Registration Decider.

Definition at line 110 of file CICPCriteriaNRD.h.

◆ pose_t

template<class GRAPH_T >

using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::pose_t = typename GRAPH_T::constraint_t::type_value

type of underlying poses (2D/3D).

Definition at line 98 of file CICPCriteriaNRD.h.

◆ range_ops_t

template<class GRAPH_T >

using mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::range_ops_t = mrpt::graphslam::deciders::CRangeScanOps<GRAPH_T>

Typedef for accessing methods of the RangeScanRegistrationDecider parent class.

Definition at line 106 of file CICPCriteriaNRD.h.

Constructor & Destructor Documentation

◆ CICPCriteriaNRD()

template<class GRAPH_T >

mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD ( )

Class constructor.

Definition at line 19 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeLoggers(), mrpt::system::COutputLogger::logFmt(), mrpt::system::LVL_DEBUG, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_is_using_3DScan, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_ICP, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_odom, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg, and mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::resetPDF().

◆ ~CICPCriteriaNRD()

template<class GRAPH_T >

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

Class destructor.

Definition at line 41 of file CICPCriteriaNRD_impl.h.

Member Function Documentation

◆ addNodeAnnotsToPose()

template<class GRAPH_T >

void CNodeRegistrationDecider::addNodeAnnotsToPose ( global_pose_t * pose ) const

protectedvirtualinherited

Get a global_pose_t and fill the NODE_ANNOTATIONS-related fields.

Note: Users are encouraged to override this method in case they have defined a new TNodeAnnotations struct and want to use this metadata in the graph nodes.

Definition at line 145 of file CNodeRegistrationDecider_impl.h.

◆ 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 95 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ checkRegistrationCondition()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition ( )

protectedvirtual

Check whether a new node should be registered in the graph.

This should be the key-method in any implementation of this interface. Should call registerNewNodeAtEnd method if the registration condition is satisfied.

Returns: True upon successful node registration in the graph

Reimplemented from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 245 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg, MRPT_END, MRPT_LOG_DEBUG, MRPT_START, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::registerNewNodeAtEnd(), and mrpt::math::wrapToPi().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

◆ checkRegistrationCondition2D()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D ( )

protected

Specialized checkRegistrationCondtion method used solely when dealing with 2DRangeScan information.

See also: checkRegistrationCondition3D

Definition at line 149 of file CICPCriteriaNRD_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ checkRegistrationCondition3D()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition3D ( )

protected

Specialized checkRegistrationCondition method used solely when dealing with 3DRangeScan information.

See also: checkRegistrationCondition2D

Definition at line 238 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

◆ 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 = `nullptr`
	)

protectedinherited

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns: True if operation was successful, false otherwise

Definition at line 143 of file CRangeScanOps_impl.h.

References MRPT_END, and MRPT_START.

◆ 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 109 of file CRangeScanOps_impl.h.

References mrpt::maps::CPointsMap::applyDeletionMask(), min, MRPT_END, MRPT_START, and mrpt::maps::CPointsMap::size().

◆ 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.

◆ getClassName()

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

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

inlineinherited

Definition at line 137 of file CRegistrationDeciderOrOptimizer.h.

◆ getCurrentRobotPosEstimation()

template<class GRAPH_T >

GRAPH_T::global_pose_t CNodeRegistrationDecider::getCurrentRobotPosEstimation ( ) const

virtualinherited

Getter method for fetching the currently estimated robot position.

In single-robot situations this is most likely going to be the last registered node position + an position/uncertainty increment from that position

Reimplemented in mrpt::graphslam::deciders::CEmptyNRD< GRAPH_T >.

Definition at line 152 of file CNodeRegistrationDecider_impl.h.

◆ getDescriptiveReport()

template<class GRAPH_T >

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

virtual

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::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 314 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::getDescriptiveReport(), mrpt::system::COutputLogger::getLogAsString(), mrpt::system::CTimeLogger::getStatsAsText(), mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::header_sep, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::report_sep.

◆ 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::maps::CMetricMap::insertObservation(), MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

◆ 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 51 of file CRangeScanOps_impl.h.

References ASSERTDEBMSG_, mrpt::format(), mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::maps::CMetricMap::insertObservation(), MRPT_END, and MRPT_START.

◆ 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().

◆ 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().

◆ 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 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ 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 41 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().

◆ initializeVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::initializeVisuals ( )

virtualinherited

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 in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 88 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ isLoggingLevelVisible()

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

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ isMultiRobotSlamClass()

template<class GRAPH_T >

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

inherited

Definition at line 144 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ loadParams()

template<class GRAPH_T >

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

virtual

Load the necessary for the decider/optimizer configuration parameters.

Reimplemented from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >.

Definition at line 281 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::loadParams(), MRPT_END, MRPT_LOG_DEBUG, MRPT_START, and mrpt::system::COutputLogger::setMinLoggingLevel().

◆ 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 290 of file COutputLogger.cpp.

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

◆ 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::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(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ 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().

◆ 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().

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 277 of file COutputLogger.cpp.

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

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ notifyOfWindowEvents()

template<class GRAPH_T >

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

virtualinherited

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 in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 109 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ printParams()

template<class GRAPH_T >

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

virtual

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 302 of file CICPCriteriaNRD_impl.h.

References MRPT_END, MRPT_START, and mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::printParams().

◆ registerNewNodeAtEnd() [1/2]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( const typename GRAPH_T::constraint_t & constraint )

protectedinherited

Utility methods for adding new poses to the graph.

Add a new constraint at the end of the graph.

Parameters

[in] constraint Constraint transformation from the latest registered to the new node.

Returns: True upon successful node registration.

Definition at line 58 of file CNodeRegistrationDecider_impl.h.

◆ registerNewNodeAtEnd() [2/2]

template<class GRAPH_T>

bool CNodeRegistrationDecider::registerNewNodeAtEnd ( )

protectedinherited

Same goal as the previous method - uses the m_since_prev_node_PDF as the constraint at the end.

Definition at line 121 of file CNodeRegistrationDecider_impl.h.

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

◆ resetPDF()

template<class GRAPH_T >

void CNodeRegistrationDecider::resetPDF ( constraint_t * c )

protectedinherited

Reset the given PDF method and assign a fixed high-certainty Covariance/Information matrix.

Definition at line 132 of file CNodeRegistrationDecider_impl.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ setClassName()

template<class GRAPH_T >

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

virtualinherited

Definition at line 56 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 79 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 137 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(), and mrpt::graphslam::CWindowManager::initCWindowManager().

◆ 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(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ 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(), and mrpt::math::ransac_detect_2D_lines().

◆ 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 65 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ updateState()

template<class GRAPH_T >

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

virtual

Update the decider state using the latest dataset measurements.

Note: Depending on the observations at hand, update of the state is handled either by updateState2D, or by updateState3D methods. This helps in separating the 2D, 3D RangeScans handling altogether, which in turn simplifies the overall procedure

Order of calls: updateState (calls) ==> updateState2D/3D ==> checkRegistrationCondition2D/3D ==> CheckRegistrationCondition

See also: updateState2D, updateState3D

Implements mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >.

Definition at line 46 of file CICPCriteriaNRD_impl.h.

References mrpt::poses::CPosePDFGaussianInf::copyFrom(), mrpt::system::CTimeLogger::enter(), IS_CLASS, mrpt::system::CTimeLogger::leave(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF, mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::m_time_logger, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D().

◆ updateState2D()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D ( mrpt::obs::CObservation2DRangeScan::Ptr observation )

Specialized updateState method used solely when dealing with 2DRangeScan information.

See also: updateState3D

Definition at line 126 of file CICPCriteriaNRD_impl.h.

References mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_laser_scan2D, MRPT_END, and MRPT_START.

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

◆ updateState3D()

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState3D ( mrpt::obs::CObservation3DRangeScan::Ptr observation )

Specialized updateState method used solely when dealing with 3DRangeScan information.

See also: updateState2D

Definition at line 230 of file CICPCriteriaNRD_impl.h.

References THROW_EXCEPTION.

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

◆ updateVisuals()

template<class GRAPH_T >

void mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >::updateVisuals ( )

virtualinherited

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 in mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >, and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >.

Definition at line 103 of file CRegistrationDeciderOrOptimizer_impl.h.

◆ writeLogToFile()

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

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 173 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

protectedinherited

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

Definition at line 169 of file CRegistrationDeciderOrOptimizer.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

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 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

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

See also: writeLogToFile, getLogAsString

Definition at line 242 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

protectedinherited

Name of the class instance.

Definition at line 165 of file CRegistrationDeciderOrOptimizer.h.

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

◆ m_curr_laser_scan2D

template<class GRAPH_T >

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan2D

protected

Current LaserScan.

Set during the new measurements acquisition in updateState method

Definition at line 201 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_curr_laser_scan3D

template<class GRAPH_T >

mrpt::obs::CObservation3DRangeScan::Ptr mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_laser_scan3D

protected

Definition at line 204 of file CICPCriteriaNRD.h.

◆ m_curr_odometry_only_pose

template<class GRAPH_T >

pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_curr_odometry_only_pose

protected

pose_t estimation using only odometry information.

Note: Utilized only in observation-only rawlogs.

Definition at line 218 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

◆ m_graph

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

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

protectedinherited

Pointer to the graph that is under construction.

Definition at line 144 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

protectedinherited

Definition at line 145 of file CRegistrationDeciderOrOptimizer.h.

◆ m_init_inf_mat

template<class GRAPH_T>

inf_mat_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_init_inf_mat

protectedinherited

Initial information matrix for paths.

Large values for this indicate that I am sure of the corresponding (initial) pose

Definition at line 131 of file CNodeRegistrationDecider.h.

◆ m_initialized_visuals

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

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

protectedinherited

Definition at line 159 of file CRegistrationDeciderOrOptimizer.h.

◆ m_is_using_3DScan

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_is_using_3DScan

protected

Definition at line 190 of file CICPCriteriaNRD.h.

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

◆ m_last_laser_scan2D

template<class GRAPH_T >

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

protected

handy laser scans to use in the class methods

2D LaserScan corresponding to the latest registered node in the graph

Definition at line 197 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState2D().

◆ m_last_laser_scan3D

template<class GRAPH_T >

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

protected

Definition at line 203 of file CICPCriteriaNRD.h.

◆ m_last_odometry_only_pose

template<class GRAPH_T >

pose_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_last_odometry_only_pose

protected

pose_t estimation using only odometry information.

Note: Utilized only in observation-only rawlogs.

Resets next time an ICP edge/Odometry measurement is utilized for updating the estimated robot position.

Definition at line 225 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

◆ m_latest_odometry_PDF

template<class GRAPH_T >

constraint_t mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_latest_odometry_PDF

protected

Odometry rigid-body transformation since the last accepted LaserScan.

Decider can use it to smoothen the trajectory in the case of high noise in the laser measurements

Definition at line 213 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::updateState().

◆ m_mahal_distance_ICP_odom

template<class GRAPH_T >

TSlidingWindow mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_mahal_distance_ICP_odom

protected

Keeps track of the last N measurements between the ICP edge and the corresponding odometry measurements.

Use the last odometry rigid body transformation instead of the ICP edge if the mahalanobis distance between them is greater than this limit.

Definition at line 233 of file CICPCriteriaNRD.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_prev_registered_nodeID

template<class GRAPH_T>

mrpt::graphs::TNodeID mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_prev_registered_nodeID

protectedinherited

Store the last registered NodeID.

We don't store its pose since it will most likely change due to calls to the graph-optimization procedure / dijkstra_node_estimation

Definition at line 121 of file CNodeRegistrationDecider.h.

◆ m_since_prev_node_PDF

template<class GRAPH_T>

constraint_t mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >::m_since_prev_node_PDF

protectedinherited

Tracking the PDF of the current position of the robot with regards to the <b previous registered node.

Definition at line 125 of file CNodeRegistrationDecider.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().

◆ 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 163 of file CRegistrationDeciderOrOptimizer.h.

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

◆ m_times_used_ICP

template<class GRAPH_T >

int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_ICP

protected

How many times we used the ICP Edge instead of Odometry edge.

Definition at line 240 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ m_times_used_odom

template<class GRAPH_T >

int mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_times_used_odom

protected

How many times we used the Odometry Edge instead of the ICP edge.

Definition at line 242 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ m_use_angle_difference_node_reg

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_angle_difference_node_reg

protected

Definition at line 236 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ m_use_distance_node_reg

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::m_use_distance_node_reg

protected

Definition at line 237 of file CICPCriteriaNRD.h.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD().

◆ m_win

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

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

protectedinherited

Window to use.

Definition at line 155 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

protectedinherited

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

Definition at line 153 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

protectedinherited

CWindowObserver object for monitoring various visual-oriented events.

Definition at line 158 of file CRegistrationDeciderOrOptimizer.h.

◆ params

template<class GRAPH_T >

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

Definition at line 171 of file CICPCriteriaNRD.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 174 of file CRegistrationDeciderOrOptimizer.h.

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

Detailed Description

template<class GRAPH_T> class mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >

Description

Specifications

.ini Configuration Parameters

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

◆ global_pose_t

◆ inf_mat_t

◆ InfMat

◆ parent_t

◆ pose_t

◆ range_ops_t

Constructor & Destructor Documentation

◆ CICPCriteriaNRD()

◆ ~CICPCriteriaNRD()

Member Function Documentation

◆ addNodeAnnotsToPose()

◆ assertVisualsVars()

◆ checkRegistrationCondition()

◆ checkRegistrationCondition2D()

◆ checkRegistrationCondition3D()

◆ convert3DTo2DRangeScan()

◆ decimatePointsMap()

◆ dumpLogToConsole()

◆ getClassName()

◆ getCurrentRobotPosEstimation()

◆ getDescriptiveReport()

◆ getICPEdge() [1/2]

◆ getICPEdge() [2/2]

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ initializeLoggers()

◆ initializeVisuals()

◆ isLoggingLevelVisible()

◆ isMultiRobotSlamClass()

◆ loadParams()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ notifyOfWindowEvents()

◆ printParams()

◆ registerNewNodeAtEnd() [1/2]

◆ registerNewNodeAtEnd() [2/2]

◆ resetPDF()

◆ setClassName()

◆ setCriticalSectionPtr()

◆ setGraphPtr()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setVerbosityLevel()

◆ setWindowManagerPtr()

◆ updateState()

◆ updateState2D()

◆ updateState3D()

◆ updateVisuals()

◆ writeLogToFile()

Member Data Documentation

◆ header_sep

◆ is_mr_slam_class

◆ logging_enable_console_output

template<class GRAPH_T>
class mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >