Template Class CIncrementalNodeRegistrationDecider

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

template<class GRAPH_T>
class CIncrementalNodeRegistrationDecider : public virtual mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>

Incremental Node registration decider. Decider adds new nodes in the graph in an incremental fashion (adding nodes at the end of the graph)

Registration Conditions Specifiers

virtual bool checkRegistrationCondition()

If estimated position surpasses the registration max values since the previous registered node, register a new node in the graph.

Returns:

True on successful registration.

virtual bool checkRegistrationConditionPose(const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2) const
virtual bool checkRegistrationConditionPose(const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2) const

Public Types

using constraint_t = typename GRAPH_T::constraint_t
using pose_t = typename GRAPH_T::constraint_t::type_value
using global_pose_t = typename GRAPH_T::global_pose_t
using decider_t = CIncrementalNodeRegistrationDecider<GRAPH_T>
using parent_t = mrpt::graphslam::deciders::CNodeRegistrationDecider<GRAPH_T>

Public Functions

CIncrementalNodeRegistrationDecider() = default
virtual ~CIncrementalNodeRegistrationDecider() = default
virtual void loadParams(const std::string &source_fname)

Load the necessary for the decider/optimizer configuration parameters.

virtual void printParams() const

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

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

Protected Attributes

TParams params
struct TParams : public mrpt::config::CLoadableOptions

Parameters structure for managing the relevant to the decider variables in a compact manner.

Public Functions

TParams() = default
~TParams() = default
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section)
virtual void dumpToTextStream(std::ostream &out) const
void getAsString(std::string *params_out) const

Return a string with the configuration parameters.

std::string getAsString() const

Public Members

double registration_max_distance
double registration_max_angle