mrpt::graphslam::CGraphSlamEngine derived class for executing multi-robot graphSLAM More...

#include <CGraphSlamEngine_MR.h>

Inheritance diagram for mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >:

Classes
struct	TNeighborAgentProps
	Struct responsible for holding properties (nodeIDs, node positions, LaserScans) that have been registered by a nearby GraphSlamAgent. More...
struct	TOptions
Public Types
typedef GRAPH_T::constraint_t	constraint_t
typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR < GRAPH_T >	edge_reg_mr_t
typedef GRAPH_T::global_pose_t	global_pose_t
typedef mrpt::graphs::detail::THypothesis < GRAPH_T >	hypot_t
typedef std::vector< hypot_t >	hypots_t
typedef std::vector< hypot_t * >	hypotsp_t
typedef std::pair < mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	MRPT_NodeIDWithLaserScan
typedef std::vector < TNeighborAgentProps * >	neighbors_t
typedef mrpt::graphslam::detail::TNodeProps < GRAPH_T >	node_props_t
typedef std::map < mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	nodes_to_scans2D_t
typedef CGraphSlamEngine_ROS < GRAPH_T >	parent_t
typedef std::vector < mrpt::vector_uint >	partitions_t
typedef mrpt::graphslam::TUncertaintyPath < GRAPH_T >	path_t
typedef std::vector< path_t >	paths_t
typedef constraint_t::type_value	pose_t
typedef CGraphSlamEngine_MR < GRAPH_T >	self_t
Public Member Functions
bool	_execGraphSlamStep (mrpt::obs::CActionCollectionPtr &action, mrpt::obs::CSensoryFramePtr &observations, mrpt::obs::CObservationPtr &observation, size_t &rawlog_entry)
	CGraphSlamEngine_MR (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)
const neighbors_t &	getVecOfNeighborAgentProps () const
void	initClass ()
	Initialize object instance.
bool	isOwnNodeID (const mrpt::utils::TNodeID nodeID, const global_pose_t *pose_out=NULL) const
	Return true if current CGraphSlamEngine_MR object initially registered this nodeID, false otherwise.
	~CGraphSlamEngine_MR ()
Private Member Functions
bool	addNodeBatchesFromAllNeighbors ()
	Traverse all neighbors for which I know the inter-graph transformation, run addNodeBatchFromNeighbor.
bool	addNodeBatchFromNeighbor (TNeighborAgentProps *neighbor)
	neighbors for which I know the inter-graph transformation, add new batches of fetches nodeIDs and scans
bool	findTFsWithAllNeighbors ()
	Using map-merging find a potentuial transofrmation between own graph map to another agent's map and using that transformation add other agent's nodes to own graph.
bool	findTFWithNeighbor (TNeighborAgentProps *neighbor)
	Method is used only when I haven't found any transformation between mine and the current neighbor's graph. When I do find one, I just add every new nodeID + LS directly in own graph since I can now connect the new ones with the already integrated nodes of the neighbor.
void	getAllOwnNodes (std::set< mrpt::utils::TNodeID > *nodes_set) const
	Fill given set with the nodeIDs that were initially registered by the current graphSLAM engine (and not by any neighboring agent.
bool	getCMGraph (mrpt_msgs::GetCMGraph::Request &req, mrpt_msgs::GetCMGraph::Response &res)
	Compute and fill the Condensed Measurements Graph.
mrpt::poses::CPose3D	getLSPoseForGridMapVisualization (const mrpt::utils::TNodeID nodeID) const
bool	getNeighborByAgentID (const std::string &agent_ID_str, TNeighborAgentProps *&neighbor) const
	Fill the TNeighborAgentProps instance based on the given agent_ID_str string that is provided.
void	getNodeIDsOfEstimatedTrajectory (std::set< mrpt::utils::TNodeID > *nodes_set) const
void	getRobotEstimatedTrajectory (typename GRAPH_T::global_poses_t *graph_poses) const
void	monitorNodeRegistration (bool registered=false, std::string class_name="Class")
	Overriden method that takes in account registration of multiple nodes of other running graphSLAM agents.
void	printParams () const
bool	pubLastRegdIDScan ()
	Update the last registered NodeID and LaserScan of the current agent.
bool	pubUpdatedNodesList ()
	Update the last registered NodeIDs and corresponding positions of the current agent.
void	readParams ()
	Read the problem configuration parameters.
void	readROSParameters ()
	Read configuration parameters from the ROS parameter server.
void	setObjectPropsFromNodeID (const mrpt::utils::TNodeID nodeID, mrpt::opengl::CSetOfObjectsPtr &viz_object)
void	setupPubs ()
void	setupSrvs ()
void	setupSubs ()
void	usePublishersBroadcasters ()
	Provide feedback about the SLAM operation.
Private Attributes
ros::AsyncSpinner	cm_graph_async_spinner
	AsyncSpinner that is used to query the CM-Graph service in case a new request arrives.
mrpt::slam::CGridMapAligner::TConfigParams	m_alignment_options
	Parameters used during the alignment operation.
mrpt::graphslam::detail::CConnectionManager	m_conn_manager
	CConnectionManager instance.
size_t	m_graph_nodes_last_size
	Last known size of the m_nodes map.
mrpt::utils::TColorManager	m_neighbor_colors_manager
std::map< TNeighborAgentProps *, bool >	m_neighbor_to_found_initial_tf
	Map from neighbor instance to transformation from own to neighbor's graph.
neighbors_t	m_neighbors
	GraphSlamAgent instance pointer to TNeighborAgentProps.
ros::NodeHandle *	m_nh
	NodeHandle pointer - inherited by the parent. Redefined here for convenience.
size_t	m_nodes_to_laser_scans2D_last_size
	Last known size of the m_nodes_to_laser_scans2D map.
mrpt::graphslam::CGraphSlamEngine_MR::TOptions	m_opts
bool	m_pause_exec_on_mr_registration
	Indicates if the program is going to pause on multiple-robot nodes registration.
bool	m_registered_multiple_nodes
	Indicates whether multiple nodes were just registered. Used for checking correct node registration in the monitorNodeRgistration method.
std::string	m_sec_alignment_params
std::string	m_sec_mr_slam_params
Subscribers - Publishers
ROS Topic Subscriber/Publisher/Service instances
ros::Publisher	m_list_neighbors_pub
ros::Publisher	m_last_regd_id_scan_pub
	Publisher of the laserScan + the corresponding (last) registered node.
ros::Publisher	m_last_regd_nodes_pub
	Publisher of the last registered nodeIDs and positions.
ros::ServiceServer	m_cm_graph_srvserver
Topic Names
Names of the topics that the class instance subscribes or publishes to
std::string	m_mr_ns
	Condensed Measurements topic namespace.
std::string	m_list_neighbors_topic
	Name of topic at which we publish information about the agents that we can currently communicate with.
std::string	m_last_regd_id_scan_topic
	Name of the topic that the last registered laser scan (+ corresponding nodeID) is published at.
std::string	m_last_regd_nodes_topic
	Name of the topic that the last X registered nodes + positions are going to be published at.
std::string	m_cm_graph_service
	Name of the server which is to be called when other agent wants to have a subgraph of certain nodes returned.

double	m_offset_y_nrd
	Display the Deciders/Optimizers with which we are running as well as the namespace of the current agent.
double	m_offset_y_erd
double	m_offset_y_gso
double	m_offset_y_namespace
int	m_text_index_nrd
int	m_text_index_erd
int	m_text_index_gso
int	m_text_index_namespace

Detailed Description

template<class GRAPH_T>
class mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >

mrpt::graphslam::CGraphSlamEngine derived class for executing multi-robot graphSLAM

Definition at line 50 of file CGraphSlamEngine_MR.h.

Member Typedef Documentation

template<class GRAPH_T>

typedef GRAPH_T::constraint_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::constraint_t

Definition at line 55 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::edge_reg_mr_t

Definition at line 71 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef GRAPH_T::global_pose_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::global_pose_t

Definition at line 67 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef mrpt::graphs::detail::THypothesis<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::hypot_t

Definition at line 64 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::vector<hypot_t> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::hypots_t

Definition at line 65 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::vector<hypot_t*> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::hypotsp_t

Definition at line 66 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::pair< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::MRPT_NodeIDWithLaserScan

Definition at line 59 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::vector<TNeighborAgentProps*> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::neighbors_t

Definition at line 272 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef mrpt::graphslam::detail::TNodeProps<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::node_props_t

Definition at line 68 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::nodes_to_scans2D_t

Definition at line 62 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef CGraphSlamEngine_ROS<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::parent_t

Definition at line 53 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::vector<mrpt::vector_uint> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::partitions_t

Definition at line 63 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef mrpt::graphslam::TUncertaintyPath<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::path_t

Definition at line 69 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef std::vector<path_t> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::paths_t

Definition at line 70 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef constraint_t::type_value mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::pose_t

Definition at line 56 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

typedef CGraphSlamEngine_MR<GRAPH_T> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::self_t

Definition at line 54 of file CGraphSlamEngine_MR.h.

Constructor & Destructor Documentation

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::CGraphSlamEngine_MR	(	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 15 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::~CGraphSlamEngine_MR ( )

Definition at line 48 of file CGraphSlamEngine_MR_impl.h.

Member Function Documentation

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::_execGraphSlamStep	(	mrpt::obs::CActionCollectionPtr &	action,
		mrpt::obs::CSensoryFramePtr &	observations,
		mrpt::obs::CObservationPtr &	observation,
		size_t &	rawlog_entry
	)		`[virtual]`

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

Definition at line 435 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::addNodeBatchesFromAllNeighbors ( ) [private]

Traverse all neighbors for which I know the inter-graph transformation, run addNodeBatchFromNeighbor.

Definition at line 63 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::addNodeBatchFromNeighbor ( TNeighborAgentProps * neighbor ) [private]

neighbors for which I know the inter-graph transformation, add new batches of fetches nodeIDs and scans

Try to integrate the newly received nodeIDs and laser Scans in own graph as a batch

Note:: Batch integration (instead of individual nodeID + LaserScan every time a new one is received) is preferred since the neighbor is given time to optimize the node positions

Definition at line 84 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::findTFsWithAllNeighbors ( ) [private]

Using map-merging find a potentuial transofrmation between own graph map to another agent's map and using that transformation add other agent's nodes to own graph.

Method delegates task to the findMatchesWithNeighboor method.

Returns:: True on successful graph integration with any neighbor, false otherwise

Definition at line 207 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::findTFWithNeighbor ( TNeighborAgentProps * neighbor ) [private]

Method is used only when I haven't found any transformation between mine and the current neighbor's graph. When I do find one, I just add every new nodeID + LS directly in own graph since I can now connect the new ones with the already integrated nodes of the neighbor.

See also:: findTFsWithAllNeighbors

Definition at line 254 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getAllOwnNodes ( std::set< mrpt::utils::TNodeID > * nodes_set ) const [private]

Fill given set with the nodeIDs that were initially registered by the current graphSLAM engine (and not by any neighboring agent.

Definition at line 1008 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getCMGraph	(	mrpt_msgs::GetCMGraph::Request &	req,
		mrpt_msgs::GetCMGraph::Response &	res
	)		`[private]`

Compute and fill the Condensed Measurements Graph.

Definition at line 917 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

mrpt::poses::CPose3D mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getLSPoseForGridMapVisualization ( const mrpt::utils::TNodeID nodeID ) const [private]

Definition at line 589 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getNeighborByAgentID	(	const std::string &	agent_ID_str,
		TNeighborAgentProps *&	neighbor
	)		const `[private]`

Fill the TNeighborAgentProps instance based on the given agent_ID_str string that is provided.

Returns:: False if the agent_ID_str doesn't correspond to any registered TNeighborAgentProps, True otherwise

Definition at line 618 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getNodeIDsOfEstimatedTrajectory ( std::set< mrpt::utils::TNodeID > * nodes_set ) const [private]

Definition at line 1021 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getRobotEstimatedTrajectory ( typename GRAPH_T::global_poses_t * graph_poses ) const [private]

Definition at line 992 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T>

const neighbors_t& mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::getVecOfNeighborAgentProps ( ) const [inline]

Definition at line 274 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::initClass ( )

Initialize object instance.

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

Definition at line 471 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::isOwnNodeID	(	const mrpt::utils::TNodeID	nodeID,
		const global_pose_t *	pose_out = `NULL`
	)		const

Return true if current CGraphSlamEngine_MR object initially registered this nodeID, false otherwise.

Parameters:

[in] nodeID nodeID for which the query is made. runtime_error In case given nodeID isn't registered at all in the graph

Definition at line 807 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::monitorNodeRegistration	(	bool	registered = `false`,
		std::string	class_name = `"Class"`
	)		`[private]`

Overriden method that takes in account registration of multiple nodes of other running graphSLAM agents.

Definition at line 973 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::printParams ( ) const [private]

Definition at line 865 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::pubLastRegdIDScan ( ) [private]

Update the last registered NodeID and LaserScan of the current agent.

Note:: Method is automatically called from usePublishersBroadcasters, but it publishes to the corresponding topics only on new node/LS additions

Returns:: true on publication to corresponding topics, false otherwise

See also:: pubUpdatedNodesList

Definition at line 756 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::pubUpdatedNodesList ( ) [private]

Update the last registered NodeIDs and corresponding positions of the current agent.

Note:: Method is automatically called from usePublishersBroadcasters, but it publishes to the corresponding topics only on new node additions. Node positions may change due to optimization but we will be notified of this change anyway after a new node addition.

Returns:: true on publication to corresponding topics, false otherwise

See also:: pubLastRegdIDScan

Definition at line 698 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::readParams ( ) [private]

Read the problem configuration parameters.

See also:: readROSParameters, CGraphSlamEngine::loadParams

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

Definition at line 840 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::readROSParameters ( ) [private]

Read configuration parameters from the ROS parameter server.

Note:: Method is automatically called on object construction.

See also:: readParams, initClass

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

Definition at line 857 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::setObjectPropsFromNodeID	(	const mrpt::utils::TNodeID	nodeID,
		mrpt::opengl::CSetOfObjectsPtr &	viz_object
	)		`[private]`

Definition at line 946 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::setupPubs ( ) [private, virtual]

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

Definition at line 877 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::setupSrvs ( ) [private, virtual]

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

Definition at line 904 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::setupSubs ( ) [private, virtual]

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

Definition at line 874 of file CGraphSlamEngine_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::usePublishersBroadcasters ( ) [private, virtual]

Provide feedback about the SLAM operation.

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

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

Definition at line 639 of file CGraphSlamEngine_MR_impl.h.

Member Data Documentation

template<class GRAPH_T>

ros::AsyncSpinner mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::cm_graph_async_spinner [private]

AsyncSpinner that is used to query the CM-Graph service in case a new request arrives.

Definition at line 495 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

mrpt::slam::CGridMapAligner::TConfigParams mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_alignment_options [private]

Parameters used during the alignment operation.

Definition at line 508 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::string mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_cm_graph_service [private]

Name of the server which is to be called when other agent wants to have a subgraph of certain nodes returned.

Definition at line 451 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

ros::ServiceServer mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_cm_graph_srvserver [private]

Definition at line 424 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

mrpt::graphslam::detail::CConnectionManager mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_conn_manager [private]

CConnectionManager instance.

Definition at line 463 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

size_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_graph_nodes_last_size [private]

Last known size of the m_nodes map.

Definition at line 460 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

ros::Publisher mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_last_regd_id_scan_pub [private]

Publisher of the laserScan + the corresponding (last) registered node.

Definition at line 416 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::string mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_last_regd_id_scan_topic [private]

Name of the topic that the last registered laser scan (+ corresponding nodeID) is published at.

Definition at line 442 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

ros::Publisher mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_last_regd_nodes_pub [private]

Publisher of the last registered nodeIDs and positions.

Note:: see m_num_last_regd_nodes variable for the exact number of published nodeID and position pairs.

Definition at line 422 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::string mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_last_regd_nodes_topic [private]

Name of the topic that the last X registered nodes + positions are going to be published at.

Definition at line 446 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

ros::Publisher mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_list_neighbors_pub [private]

Definition at line 413 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::string mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_list_neighbors_topic [private]

Name of topic at which we publish information about the agents that we can currently communicate with.

Definition at line 438 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::string mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_mr_ns [private]

Condensed Measurements topic namespace.

Definition at line 434 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

mrpt::utils::TColorManager mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_neighbor_colors_manager [private]

Definition at line 510 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

std::map<TNeighborAgentProps*, bool> mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_neighbor_to_found_initial_tf [private]

Map from neighbor instance to transformation from own to neighbor's graph.

As long as the corresponding variable for a specific agent is False current engine keeps trying the map-matching proc to find a common transformation between own and neighbor graphs.

Definition at line 405 of file CGraphSlamEngine_MR.h.

template<class GRAPH_T>

neighbors_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::m_neighbors [private]

GraphSlamAgent instance pointer to TNeighborAgentProps.