Template Class CICPCriteriaERD

Defined in File CICPCriteriaERD.h

Nested Relationships

Nested Types

Struct CICPCriteriaERD::TParams

Inheritance Relationships

Base Type

public mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf > (Template Class CRangeScanEdgeRegistrationDecider)

Class Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf> class CICPCriteriaERD : public mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider<typename mrpt::graphs::CNetworkOfPoses2DInf>

ICP-based Edge Registration.

Unnamed Group

using constraint_t = typename GRAPH_T::constraint_t

Handy typedefs.

type of graph constraints

using pose_t = typename GRAPH_T::constraint_t::type_value: type of underlying poses (2D/3D).

using parent_t = CRangeScanEdgeRegistrationDecider<GRAPH_T>

using range_ops_t = typename parent_t::range_ops_t

using decider_t = CICPCriteriaERD<GRAPH_T>: self type - Handy type

using nodes_to_scans2D_t = typename parent_t::nodes_to_scans2D_t

Public Functions

CICPCriteriaERD()

~CICPCriteriaERD() override = default

virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns:: True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

virtual void notifyOfWindowEvents(const std::map<std::string, bool> &events_occurred) override

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.

virtual void getEdgesStats(std::map<std::string, int> *edge_types_to_num) const override: Fill the given map with the type of registered edges as well as the corresponding number of registration of each edge.

virtual void initializeVisuals() override

Initialize visual objects in CDisplayWindow (e.g. add an object to scene).

See also

setWindowManagerPtr, initializeVisuals

Throws:: std::exception – If the method is called without having first provided a CDisplayWindow3D* to the class instance

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

virtual void printParams() const override: Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

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

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

Public Members

TParams params

Protected Functions

void checkRegistrationCondition2D(const std::set<mrpt::graphs::TNodeID> &nodes_set)

void checkRegistrationCondition3D(const std::set<mrpt::graphs::TNodeID> &nodes_set)

virtual void registerNewEdge(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to, const constraint_t &rel_edge) override

Register a new constraint/edge in the current graph.

Implementations of this class should provide a wrapper around GRAPH_T::insertEdge method.

void checkIfInvalidDataset(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)

void getNearbyNodesOf(std::set<mrpt::graphs::TNodeID> *nodes_set, const mrpt::graphs::TNodeID &cur_nodeID, double distance): Get a list of the nodeIDs whose position is within a certain distance to the specified nodeID.

void toggleLaserScansVisualization(): togle the LaserScans visualization on and off

void dumpVisibilityErrorMsg(std::string viz_flag, int sleep_time = 500)

Protected Attributes

mrpt::img::TColor m_search_disk_color: see Constructor for initialization

mrpt::img::TColor m_laser_scans_color: see Constructor for initialization

double m_offset_y_search_disk

int m_text_index_search_disk

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr> m_nodes_to_laser_scans2D

std::map<mrpt::graphs::TNodeID, mrpt::obs::CObservation3DRangeScan::Ptr> m_nodes_to_laser_scans3D

std::map<std::string, int> m_edge_types_to_nums

bool m_is_using_3DScan = {false}

mrpt::obs::CObservation2DRangeScan::Ptr m_last_laser_scan2D

mrpt::obs::CObservation3DRangeScan::Ptr m_last_laser_scan3D

mrpt::obs::CObservation2DRangeScan::Ptr m_fake_laser_scan2D

struct TParams : public mrpt::config::CLoadableOptions 

Public Functions

TParams(decider_t &d)

~TParams() override

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override

virtual void dumpToTextStream(std::ostream &out) const override

Public Members

decider_t &decider

double ICP_max_distance

double ICP_goodness_thresh

size_t LC_min_nodeid_diff

bool visualize_laser_scans

std::string keystroke_laser_scans

std::string scans_img_external_dir

bool has_read_config