mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T > Class Template Reference

#include <CLoopCloserERD_MR.h>

Inheritance diagram for mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >:

List of all members.

Public Types
typedef CLoopCloserERD< GRAPH_T >	lc_parent_t
	Handy typedefs.
typedef CEdgeRegistrationDecider_MR < GRAPH_T >	mr_parent_t
typedef CLoopCloserERD_MR < GRAPH_T >	decider_t
typedef lc_parent_t::constraint_t	constraint_t
typedef lc_parent_t::pose_t	pose_t
typedef lc_parent_t::range_ops_t	range_ops_t
typedef lc_parent_t::partitions_t	partitions_t
typedef lc_parent_t::nodes_to_scans2D_t	nodes_to_scans2D_t
typedef mrpt::graphslam::CGraphSlamEngine_MR < GRAPH_T >	engine_t
typedef GRAPH_T::global_pose_t	global_pose_t
Public Member Functions
void	addBatchOfNodeIDsAndScans (const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > &nodeIDs_to_scans2D)
void	addScanMatchingEdges (mrpt::utils::TNodeID curr_nodeID)
	CLoopCloserERD_MR ()
void	fetchNodeIDsForScanMatching (const mrpt::utils::TNodeID &curr_nodeID, std::set< mrpt::utils::TNodeID > *nodes_set)
bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)
	~CLoopCloserERD_MR ()

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Detailed Description

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

Loop Closer Edge Registration Decider class that can also be used in multi-robot SLAM operations since it can utilize information from other robot agents and correct own graph according to the strategy described in [1].

Note:

Multi-robot-related classes are suffixed with _MR.

Definition at line 27 of file CLoopCloserERD_MR.h.

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Member Typedef Documentation

template<class GRAPH_T >

typedef lc_parent_t::constraint_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::constraint_t

Definition at line 38 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef CLoopCloserERD_MR<GRAPH_T> mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::decider_t

handy self type

Definition at line 37 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef mrpt::graphslam::CGraphSlamEngine_MR<GRAPH_T> mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::engine_t

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

Definition at line 43 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::global_pose_t

Definition at line 44 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef CLoopCloserERD<GRAPH_T> mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::lc_parent_t

Handy typedefs.

type of graph constraints parent class

Definition at line 35 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef CEdgeRegistrationDecider_MR<GRAPH_T> mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::mr_parent_t

parent class

Definition at line 36 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef lc_parent_t::nodes_to_scans2D_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::nodes_to_scans2D_t

Definition at line 42 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef lc_parent_t::partitions_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::partitions_t

Definition at line 41 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef lc_parent_t::pose_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::pose_t

Definition at line 39 of file CLoopCloserERD_MR.h.

template<class GRAPH_T >

typedef lc_parent_t::range_ops_t mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::range_ops_t

Definition at line 40 of file CLoopCloserERD_MR.h.

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Constructor & Destructor Documentation

template<class GRAPH_T >

mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::CLoopCloserERD_MR

(

)

Definition at line 17 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::~CLoopCloserERD_MR

(

)

Definition at line 75 of file CLoopCloserERD_MR_impl.h.

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Member Function Documentation

template<class GRAPH_T >

void mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::addBatchOfNodeIDsAndScans

(

const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > &

nodeIDs_to_scans2D

)

[virtual]

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

Definition at line 28 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::addScanMatchingEdges

(

mrpt::utils::TNodeID

curr_nodeID

)

Definition at line 40 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::fetchNodeIDsForScanMatching	(	const mrpt::utils::TNodeID &	curr_nodeID,
		std::set< mrpt::utils::TNodeID > *	nodes_set
	)

Definition at line 55 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::updateState	(	mrpt::obs::CActionCollectionPtr	action,
		mrpt::obs::CSensoryFramePtr	observations,
		mrpt::obs::CObservationPtr	observation
	)

Definition at line 81 of file CLoopCloserERD_MR_impl.h.

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The documentation for this class was generated from the following files:

• CLoopCloserERD_MR.h
• CLoopCloserERD_MR_impl.h