class mrpt::slam::CIncrementalMapPartitioner

Overview

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

#include <mrpt/slam/CIncrementalMapPartitioner.h>

class CIncrementalMapPartitioner:
    public mrpt::system::COutputLogger,
    public mrpt::serialization::CSerializable
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::slam ::CIncrementalMapPartitioner> Ptr;
    typedef std::shared_ptr<const mrpt::slam ::CIncrementalMapPartitioner> ConstPtr;
    typedef std::unique_ptr<mrpt::slam ::CIncrementalMapPartitioner> UniquePtr;
    typedef std::unique_ptr<const mrpt::slam ::CIncrementalMapPartitioner> ConstUniquePtr;

    // structs

    struct TOptions;

    // fields

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

    // construction

    CIncrementalMapPartitioner();

    // methods

    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;
    virtual mrpt::rtti::CObject* clone() const;
    void clear();
    uint32_t addMapFrame(const mrpt::obs::CSensoryFrame& frame, const mrpt::poses::CPose3DPDF& robotPose3D);
    void updatePartitions(std::vector<std::vector<uint32_t>>& partitions);
    size_t getNodesCount();
    void removeSetOfNodes(std::vector<uint32_t> indexesToRemove, bool changeCoordsRef = true);
    void changeCoordinatesOrigin(const mrpt::poses::CPose3D& newOrigin);
    void changeCoordinatesOriginPoseIndex(unsigned int newOriginPose);
    void setSimilarityMethod(similarity_method_t method);
    void setSimilarityMethod(similarity_func_t func);
    void getAs3DScene(mrpt::viz::CSetOfObjects::Ptr& objs, const std::map<uint32_t, int64_t>* renameIndexes = nullptr) const;

    template <class MATRIX>
    void getAdjacencyMatrix(MATRIX& outMatrix) const;

    const mrpt::math::CMatrixDouble& getAdjacencyMatrix() const;
    const mrpt::maps::CSimpleMap* getSequenceOfFrames() const;
    mrpt::maps::CSimpleMap* getSequenceOfFrames();
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;

    // 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();
    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();

Typedefs

typedef std::shared_ptr<mrpt::slam ::CIncrementalMapPartitioner> Ptr

A type for the associated smart pointer.

Fields

TOptions options

Algorithm parameters.

Construction

CIncrementalMapPartitioner()

ctor

Methods

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

Returns information about the class of an object in runtime.

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

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

uint32_t 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.