Public Types | Public Member Functions | Private Member Functions | Private Attributes
mrpt::graphslam::CMapMerger Class Reference

Class responsible of the execution of the map_merger_node. More...

#include <CMapMerger.h>

List of all members.

Public Types

typedef std::map
< TNeighborAgentMapProps
*, COccupancyGridMap2DPtr > 
maps_t
typedef std::map
< TNeighborAgentMapProps
*, bool > 
neighbor_to_is_used_t
typedef std::map
< TNeighborAgentMapProps
*, mrpt::poses::CPose2D > 
neighbor_to_rel_pose_t
typedef std::vector
< TNeighborAgentMapProps * > 
neighbors_t
typedef std::map
< TNeighborAgentMapProps
*, mrpt::opengl::CSetOfLinesPtr > 
trajectories_t
 Robot trajectory visual object type.

Public Member Functions

 CMapMerger (mrpt::utils::COutputLogger *logger_in, ros::NodeHandle *nh_in)
void mergeMaps ()
bool updateState ()
 Query and fetch the list of new graphSLAM agents.
 ~CMapMerger ()

Private Member Functions

void initWindowVisuals (mrpt::graphslam::CWindowManager *win_manager)
mrpt::graphslam::CWindowManager * initWindowVisuals ()
void monitorKeystrokes (mrpt::graphslam::CWindowObserver *win_observer)
 Compact method for monitoring the given keystrokes for the given observer.

Private Attributes

mrpt::slam::CGridMapAligner::TConfigParams m_alignment_options
mrpt::graphslam::detail::CConnectionManager m_conn_manager
std::string m_feedback_ns
mrpt::graphslam::CWindowManager * m_fused_map_win_manager
std::string m_global_ns
 Topic namespace under which current node is going to be publishing.
mrpt::utils::COutputLogger * m_logger
neighbors_t m_neighbors
 CConnectionManager instance for fetching the running graphSLAM agents.
std::map
< TNeighborAgentMapProps
*, CWindowManager * > 
m_neighbors_to_windows
ros::NodeHandlem_nh
std::string m_options_ns
 Topic namespace under which, options that are used during the map alignment procedure are fetched from.
size_t m_queue_size
std::string map_merge_keypress
std::string quit_keypress1
std::string quit_keypress2
bool save_map_merging_results

Detailed Description

Class responsible of the execution of the map_merger_node.

Instance of the graph asks of the generated maps of all the running GraphSlamAgents computes a feasible map-merging, if any, and returns the resulting global map to the user.

Definition at line 47 of file CMapMerger.h.


Member Typedef Documentation

typedef std::map<TNeighborAgentMapProps*, COccupancyGridMap2DPtr> mrpt::graphslam::CMapMerger::maps_t

Definition at line 50 of file CMapMerger.h.

Definition at line 51 of file CMapMerger.h.

Definition at line 52 of file CMapMerger.h.

Definition at line 58 of file CMapMerger.h.

typedef std::map< TNeighborAgentMapProps*, mrpt::opengl::CSetOfLinesPtr> mrpt::graphslam::CMapMerger::trajectories_t

Robot trajectory visual object type.

Definition at line 57 of file CMapMerger.h.


Constructor & Destructor Documentation

CMapMerger::CMapMerger ( mrpt::utils::COutputLogger *  logger_in,
ros::NodeHandle nh_in 
)

Definition at line 128 of file CMapMerger.cpp.

Definition at line 173 of file CMapMerger.cpp.


Member Function Documentation

void CMapMerger::initWindowVisuals ( mrpt::graphslam::CWindowManager *  win_manager) [private]

Definition at line 585 of file CMapMerger.cpp.

CWindowManager * CMapMerger::initWindowVisuals ( ) [private]

Definition at line 579 of file CMapMerger.cpp.

Definition at line 281 of file CMapMerger.cpp.

void CMapMerger::monitorKeystrokes ( mrpt::graphslam::CWindowObserver *  win_observer) [private]

Compact method for monitoring the given keystrokes for the given observer.

Definition at line 162 of file CMapMerger.cpp.

Query and fetch the list of new graphSLAM agents.

Returns:
True if execution is to continue normally.

Definition at line 194 of file CMapMerger.cpp.


Member Data Documentation

mrpt::slam::CGridMapAligner::TConfigParams mrpt::graphslam::CMapMerger::m_alignment_options [private]

Definition at line 95 of file CMapMerger.h.

Definition at line 84 of file CMapMerger.h.

Definition at line 93 of file CMapMerger.h.

mrpt::graphslam::CWindowManager* mrpt::graphslam::CMapMerger::m_fused_map_win_manager [private]

Definition at line 103 of file CMapMerger.h.

Topic namespace under which current node is going to be publishing.

Definition at line 88 of file CMapMerger.h.

mrpt::utils::COutputLogger* mrpt::graphslam::CMapMerger::m_logger [private]

Definition at line 82 of file CMapMerger.h.

CConnectionManager instance for fetching the running graphSLAM agents.

Definition at line 80 of file CMapMerger.h.

Definition at line 81 of file CMapMerger.h.

Definition at line 83 of file CMapMerger.h.

Topic namespace under which, options that are used during the map alignment procedure are fetched from.

Definition at line 92 of file CMapMerger.h.

Definition at line 94 of file CMapMerger.h.

Definition at line 99 of file CMapMerger.h.

Definition at line 97 of file CMapMerger.h.

Definition at line 98 of file CMapMerger.h.

Definition at line 101 of file CMapMerger.h.


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


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Sun Sep 17 2017 03:02:04