mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t > Class Template Reference

Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS. More...

#include <CGraphSlamEngine_ROS.h>

Inheritance diagram for mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >:

Public Types
typedef CGraphSlamEngine< GRAPH_t >	parent
Public Types inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
typedef GRAPH_t::constraint_t	constraint_t
typedef GRAPH_t::constraint_t	constraint_t
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >	fstreams_out
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >	fstreams_out
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >::iterator	fstreams_out_it
typedef std::map< std::string, mrpt::utils::CFileOutputStream * >::iterator	fstreams_out_it
typedef GRAPH_t::global_pose_t	global_pose_t
typedef GRAPH_t::global_pose_t	global_pose_t
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	nodes_to_scans2D_t
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	nodes_to_scans2D_t
typedef GRAPH_t::constraint_t::type_value	pose_t
typedef GRAPH_t::constraint_t::type_value	pose_t

Public Member Functions
	CGraphSlamEngine_ROS (ros::NodeHandle *nh, const std::string &config_file, const std::string &rawlog_fname="", const std::string &fname_GT="", mrpt::graphslam::CWindowManager *win_manager=NULL, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *node_reg=NULL, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *edge_reg=NULL, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *optimizer=NULL)
void	initClass ()
	Initialize object instance. More...
void	setupComm ()
	Wrapper method around the protected setup* class methods. More...
virtual	~CGraphSlamEngine_ROS ()
Public Member Functions inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
virtual bool	_execGraphSlamStep (mrpt::obs::CActionCollectionPtr &action, mrpt::obs::CSensoryFramePtr &observations, mrpt::obs::CObservationPtr &observation, size_t &rawlog_entry)
	CGraphSlamEngine (const std::string &config_file, const std::string &rawlog_fname="", const std::string &fname_GT="", mrpt::graphslam::CWindowManager *win_manager=NULL, mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *node_reg=NULL, mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *edge_reg=NULL, mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *optimizer=NULL)
void	computeMap () const
void	computeMap () const
bool	execGraphSlamStep (mrpt::obs::CObservationPtr &observation, size_t &rawlog_entry)
void	generateReportFiles (const std::string &output_dir_fname_in)
global_pose_t	getCurrentRobotPosEstimation () const
void	getDeformationEnergyVector (std::vector< double > *vec_out) const
const GRAPH_t &	getGraph () const
bool	getGraphSlamStats (std::map< std::string, int > *node_stats, std::map< std::string, int > *edge_stats, mrpt::system::TTimeStamp *timestamp=NULL)
void	getMap (mrpt::maps::COccupancyGridMap2DPtr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
void	getMap (mrpt::maps::COctoMapPtr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
void	getMap (mrpt::maps::COccupancyGridMap2DPtr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
void	getMap (mrpt::maps::COctoMapPtr map, mrpt::system::TTimeStamp *acquisition_time=NULL) const
virtual void	getNodeIDsOfEstimatedTrajectory (std::set< mrpt::utils::TNodeID > *nodes_set) const
void	getParamsAsString (std::string *params_out) const
std::string	getParamsAsString () const
std::string	getRawlogFname ()
virtual void	getRobotEstimatedTrajectory (typename GRAPH_t::global_poses_t *graph_poses) const
bool	isPaused () const
bool	isPaused () const
void	loadParams (const std::string &fname)
void	pauseExec ()
void	pauseExec ()
void	printParams () const
void	resumeExec () const
void	resumeExec () const
void	save3DScene (const std::string *fname_in=NULL) const
void	saveGraph (const std::string *fname_in=NULL) const
void	togglePause ()
void	togglePause ()
virtual	~CGraphSlamEngine ()

Public Attributes
ros::NodeHandle *	m_nh

Protected Member Functions
virtual bool	_execGraphSlamStep (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, size_t &rawlog_entry)
void	readParams ()
	Read the problem configuration parameters. More...
void	readROSParameters ()
	Read configuration parameters from the ROS parameter server. More...
virtual void	usePublishersBroadcasters ()
	Provide feedback about the SLAM operation. More...
setup* ROS-related methods
Methods for setting up topic subscribers, publishers, and corresponding services See also setupComm
virtual void	setupSubs ()
virtual void	setupPubs ()
virtual void	setupSrvs ()
Protected Member Functions inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
void	alignOpticalWithMRPTFrame ()
void	computeSlamMetric (mrpt::utils::TNodeID nodeID, size_t gt_index)
void	decimateLaserScan (mrpt::obs::CObservation2DRangeScan &laser_scan_in, mrpt::obs::CObservation2DRangeScan *laser_scan_out, const int keep_every_n_entries=2)
void	dumpVisibilityErrorMsg (std::string viz_flag, int sleep_time=500)
void	execDijkstraNodesEstimation ()
void	getDescriptiveReport (std::string *report_str) const
virtual mrpt::poses::CPose3D	getLSPoseForGridMapVisualization (const mrpt::utils::TNodeID nodeID) const
virtual mrpt::poses::CPose3D	getLSPoseForGridMapVisualization (const mrpt::utils::TNodeID nodeID) const
void	initClass ()
void	initCurrPosViewport ()
void	initEstimatedTrajectoryVisualization ()
void	initGTVisualization ()
void	initIntensityImageViewport ()
void	initIntensityImageViewport ()
void	initMapVisualization ()
void	initMapVisualization ()
void	initOdometryVisualization ()
void	initRangeImageViewport ()
void	initRangeImageViewport ()
void	initResultsFile (const std::string &fname)
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualization ()
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualization ()
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualizationInternal (const mrpt::poses::CPose2D &p_unused)
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualizationInternal (const mrpt::poses::CPose3D &p_unused)
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualizationInternal (const mrpt::poses::CPose2D &p_unused)
mrpt::opengl::CSetOfObjectsPtr	initRobotModelVisualizationInternal (const mrpt::poses::CPose3D &p_unused)
void	initSlamMetricVisualization ()
void	initVisualization ()
void	initVisualization ()
virtual void	monitorNodeRegistration (bool registered=false, std::string class_name="Class")
void	queryObserverForEvents ()
mrpt::opengl::CSetOfObjectsPtr	setCurrentPositionModel (const std::string &model_name, const mrpt::utils::TColor &model_color=mrpt::utils::TColor(0, 0, 0), const size_t model_size=1, const pose_t &init_pose=pose_t())
virtual void	setObjectPropsFromNodeID (const mrpt::utils::TNodeID nodeID, mrpt::opengl::CSetOfObjectsPtr &viz_object)
virtual void	setObjectPropsFromNodeID (const mrpt::utils::TNodeID nodeID, mrpt::opengl::CSetOfObjectsPtr &viz_object)
void	toggleEstimatedTrajectoryVisualization ()
void	toggleEstimatedTrajectoryVisualization ()
void	toggleGTVisualization ()
void	toggleGTVisualization ()
void	toggleMapVisualization ()
void	toggleMapVisualization ()
void	toggleOdometryVisualization ()
void	toggleOdometryVisualization ()
void	updateAllVisuals ()
void	updateAllVisuals ()
virtual void	updateCurrPosViewport ()
virtual void	updateCurrPosViewport ()
void	updateEstimatedTrajectoryVisualization (bool full_update=false)
void	updateEstimatedTrajectoryVisualization (bool full_update=false)
void	updateGTVisualization ()
void	updateGTVisualization ()
void	updateIntensityImageViewport ()
void	updateIntensityImageViewport ()
void	updateMapVisualization (const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > &nodes_to_laser_scans2D, bool full_update=false)
void	updateMapVisualization (const std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr > &nodes_to_laser_scans2D, bool full_update=false)
void	updateOdometryVisualization ()
void	updateOdometryVisualization ()
void	updateRangeImageViewport ()
void	updateRangeImageViewport ()
void	updateSlamMetricVisualization ()
void	updateSlamMetricVisualization ()

Protected Attributes
ros::CallbackQueue	custom_service_queue
	Custom Callback queue for processing requests for the services outside the standard CallbackQueue. More...
int	m_queue_size
Protected Attributes inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
std::string	m_class_name
std::string	m_config_fname
double	m_curr_deformation_energy
pose_t	m_curr_odometry_only_pose
mrpt::system::TTimeStamp	m_curr_timestamp
std::string	m_current_constraint_type
mrpt::utils::TColor	m_current_constraint_type_color
double	m_dataset_grab_time
std::vector< double >	m_deformation_energy_vec
mrpt::graphslam::detail::CEdgeCounter	m_edge_counter
mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *	m_edge_reg
bool	m_enable_curr_pos_viewport
bool	m_enable_intensity_viewport
bool	m_enable_range_viewport
const bool	m_enable_visuals
mrpt::utils::TColor	m_estimated_traj_color
mrpt::obs::CObservation2DRangeScanPtr	m_first_laser_scan2D
std::string	m_fname_GT
GRAPH_t	m_graph
mrpt::synch::CCriticalSection	m_graph_section
mrpt::maps::COccupancyGridMap2DPtr	m_gridmap_cached
mrpt::utils::TColor	m_GT_color
std::string	m_GT_file_format
std::vector< pose_t >	m_GT_poses
size_t	m_GT_poses_index
size_t	m_GT_poses_step
bool	m_has_read_config
std::string	m_img_external_storage_dir
std::string	m_img_prev_path_base
struct mrpt::graphslam::CGraphSlamEngine::TRGBDInfoFileParams	m_info_params
mrpt::system::TTimeStamp	m_init_timestamp
bool	m_is_first_time_node_reg
bool	m_is_paused
std::string	m_keystroke_estimated_trajectory
std::string	m_keystroke_GT
std::string	m_keystroke_map
std::string	m_keystroke_odometry
std::string	m_keystroke_pause_exec
mrpt::obs::CObservation2DRangeScanPtr	m_last_laser_scan2D
mrpt::obs::CObservation3DRangeScanPtr	m_last_laser_scan3D
mrpt::system::TTimeStamp	m_map_acq_time
bool	m_map_is_cached
mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *	m_node_reg
mrpt::utils::TNodeID	m_nodeID_max
std::map< mrpt::utils::TNodeID, size_t >	m_nodeID_to_gt_indices
nodes_to_scans2D_t	m_nodes_to_laser_scans2D
bool	m_observation_only_dataset
mrpt::maps::COctoMapPtr	m_octomap_cached
mrpt::utils::TColor	m_odometry_color
std::vector< pose_t >	m_odometry_poses
double	m_offset_x_left
double	m_offset_y_current_constraint_type
double	m_offset_y_estimated_traj
double	m_offset_y_GT
double	m_offset_y_odometry
double	m_offset_y_paused_message
double	m_offset_y_timestamp
mrpt::utils::TColor	m_optimized_map_color
mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *	m_optimizer
fstreams_out	m_out_streams
const std::string	m_paused_message
std::string	m_rawlog_fname
bool	m_request_to_exit
size_t	m_robot_model_size
mrpt::math::CMatrixDouble33	m_rot_TUM_to_MRPT
mrpt::maps::CSimpleMap	m_simple_map_cached
std::vector< std::string >	m_supported_constraint_types
int	m_text_index_current_constraint_type
int	m_text_index_estimated_traj
int	m_text_index_GT
int	m_text_index_odometry
int	m_text_index_paused_message
int	m_text_index_timestamp
mrpt::utils::CTimeLogger	m_time_logger
bool	m_use_GT
bool	m_user_decides_about_output_dir
bool	m_visualize_estimated_trajectory
bool	m_visualize_GT
bool	m_visualize_map
bool	m_visualize_odometry_poses
bool	m_visualize_SLAM_metric
mrpt::gui::CDisplayWindow3D *	m_win
mrpt::graphslam::CWindowManager *	m_win_manager
mrpt::graphslam::CWindowObserver *	m_win_observer
mrpt::gui::CDisplayWindowPlots *	m_win_plot

Additional Inherited Members
Static Public Member Functions inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose3D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose3D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFile (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFileRGBD_TUM (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
static void	readGTFileRGBD_TUM (const std::string &fname_GT, std::vector< mrpt::poses::CPose2D > *gt_poses, std::vector< mrpt::system::TTimeStamp > *gt_timestamps=NULL)
Static Protected Member Functions inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
static double	accumulateAngleDiffs (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2)
static double	accumulateAngleDiffs (const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2)
static double	accumulateAngleDiffs (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2)
static double	accumulateAngleDiffs (const mrpt::poses::CPose3D &p1, const mrpt::poses::CPose3D &p2)
static mrpt::system::TTimeStamp	getTimeStamp (const mrpt::obs::CActionCollectionPtr action, const mrpt::obs::CSensoryFramePtr observations, const mrpt::obs::CObservationPtr observation)
Static Protected Attributes inherited from mrpt::graphslam::CGraphSlamEngine< GRAPH_t >
static const std::string	header_sep
static const std::string	report_sep

Detailed Description

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >

Class template that provides a wrapper around the MRPT CGraphSlamEngine class template and implements methods for interacting with ROS.

Definition at line 25 of file CGraphSlamEngine_ROS.h.

Member Typedef Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef CGraphSlamEngine<GRAPH_t> mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::parent

Definition at line 28 of file CGraphSlamEngine_ROS.h.

Constructor & Destructor Documentation

template<class GRAPH_t>

mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::CGraphSlamEngine_ROS	(	ros::NodeHandle *	nh,
		const std::string &	config_file,
		const std::string &	rawlog_fname = "",
		const std::string &	fname_GT = "",
		mrpt::graphslam::CWindowManager *	win_manager = NULL,
		mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_t > *	node_reg = NULL,
		mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_t > *	edge_reg = NULL,
		mrpt::graphslam::optimizers::CGraphSlamOptimizer< GRAPH_t > *	optimizer = NULL
	)

Definition at line 14 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::~CGraphSlamEngine_ROS ( )

virtual

Definition at line 37 of file CGraphSlamEngine_ROS_impl.h.

Member Function Documentation

template<class GRAPH_t >

bool mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::_execGraphSlamStep ( mrpt::obs::CActionCollection::Ptr &  action, mrpt::obs::CSensoryFrame::Ptr &  observations, mrpt::obs::CObservation::Ptr &  observation, size_t &  rawlog_entry  )

protectedvirtual

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 91 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::initClass

(

)

Initialize object instance.

Definition at line 43 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::readParams ( )

protected

Read the problem configuration parameters.

See also

readROSParameters, CGraphSlamEngine::loadParams

Definition at line 82 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::readROSParameters ( )

protected

Read configuration parameters from the ROS parameter server.

Note

Method is automatically called on object construction.

See also

readParams, initClass

Definition at line 88 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupComm

(

)

Wrapper method around the protected setup* class methods.

Handy for setting up publishers, subscribers, services all at once.

Definition at line 108 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupPubs ( )

protectedvirtual

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 126 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupSrvs ( )

protectedvirtual

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 132 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::setupSubs ( )

protectedvirtual

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 120 of file CGraphSlamEngine_ROS_impl.h.

template<class GRAPH_t >

void mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::usePublishersBroadcasters ( )

protectedvirtual

Provide feedback about the SLAM operation.

Method makes the necessary calls to all the publishers of the class and broadcaster instances

Reimplemented in mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >.

Definition at line 105 of file CGraphSlamEngine_ROS_impl.h.

Member Data Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

ros::CallbackQueue mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::custom_service_queue

protected

Custom Callback queue for processing requests for the services outside the standard CallbackQueue.

Note

Logical thing would be to define it in CGraphSlamEngine_MR, but that results in an segfault with the following error message:

pure virtual method called
terminate called without an active exception

Definition at line 97 of file CGraphSlamEngine_ROS.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

ros::NodeHandle* mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::m_nh

Definition at line 51 of file CGraphSlamEngine_ROS.h.

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::CGraphSlamEngine_ROS< GRAPH_t >::m_queue_size

protected

Definition at line 100 of file CGraphSlamEngine_ROS.h.

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

• CGraphSlamEngine_ROS.h
• CGraphSlamEngine_ROS_impl.h