template class mrpt::graphslam::deciders::CEdgeRegistrationDecider

Overview

Interface for implementing edge registration classes.

CEdgeRegistrationDecider provides the basic methods that have to exist in every edge registration decider class. For an example of inheriting from this class see CICPCriteriaERD.

As a naming convention, all the implemented edge registration deciders are suffixed with the ERD acronym.

#include <mrpt/graphslam/interfaces/CEdgeRegistrationDecider.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEdgeRegistrationDecider: public mrpt::graphslam::CRegistrationDeciderOrOptimizer
{
public:
    // typedefs

    typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> parent;
    typedef typename GRAPH_T::constraint_t constraint_t;
    typedef typename GRAPH_T::constraint_t::type_value pose_t;

    // construction

    CEdgeRegistrationDecider();

    // methods

    virtual void getEdgesStats(std::map<std::string, int>* edge_type_to_num) const;
    virtual bool justInsertedLoopClosure() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
};

// direct descendants

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

template <class GRAPH_T>
class CRangeScanEdgeRegistrationDecider;

Inherited Members

public:
    // structs

    struct TMsg;

    // fields

    bool logging_enable_console_output {true};
    bool logging_enable_keep_record {false};

    // methods

    void logStr(const VerbosityLevel level, std::string_view msg_str) const;
    void logFmt(const VerbosityLevel level, const char* fmt, ...) const;
    void void logCond(const VerbosityLevel level, bool cond, const std::string& msg_str) const;
    void setLoggerName(const std::string& name);
    std::string getLoggerName() const;
    void setVerbosityLevel(const VerbosityLevel level);
    void setVerbosityLevelForCallbacks(const VerbosityLevel level);
    void setMinLoggingLevel(const VerbosityLevel level);
    VerbosityLevel getMinLoggingLevel() const;
    VerbosityLevel getMinLoggingLevelForCallbacks() const;
    bool isLoggingLevelVisible(VerbosityLevel level) const;
    void getLogAsString(std::string& log_contents) const;
    std::string getLogAsString() const;
    void writeLogToFile(const std::optional<std::string>& fname_in = std::nullopt) const;
    void dumpLogToConsole() const;
    std::string getLoggerLastMsg() const;
    void getLoggerLastMsg(std::string& msg_str) const;
    void loggerReset();
    void logRegisterCallback(output_logger_callback_t userFunc);
    bool logDeregisterCallback(output_logger_callback_t userFunc);
    COutputLogger& operator = (const COutputLogger&);
    COutputLogger& operator = (COutputLogger&&);
    static std::array<mrpt::system::ConsoleForegroundColor, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_colors();
    static const std::array<const char*, NUMBER_OF_VERBOSITY_LEVELS>& logging_levels_to_names();
    virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) = 0;
    virtual void setWindowManagerPtr(mrpt::graphslam::CWindowManager* win_manager);
    virtual void setCriticalSectionPtr(std::mutex* graph_section);
    virtual void initializeVisuals();
    virtual void updateVisuals();
    virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred);
    virtual void loadParams(const std::string& source_fname);
    virtual void printParams() const;
    virtual void getDescriptiveReport(std::string* report_str) const;
    virtual void setGraphPtr(GRAPH_T* graph);
    virtual void initializeLoggers(const std::string& name);
    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;

Typedefs

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> parent

Handy typedefs.

Parent of current class

typedef typename GRAPH_T::constraint_t constraint_t

type of graph constraints

typedef typename GRAPH_T::constraint_t::type_value pose_t

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

Methods

virtual void getEdgesStats(std::map<std::string, int>* edge_type_to_num) const

Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

virtual bool justInsertedLoopClosure() const

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

virtual void getDescriptiveReport(std::string* report_str) const

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