Edge Registration Decider virtual method. More...

#include <CEdgeRegistrationDecider_MR.h>

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

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Public Member Functions
virtual void	addBatchOfNodeIDsAndScans (const std::map< TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > &nodeIDs_to_scans2D)

	CEdgeRegistrationDecider_MR ()

	~CEdgeRegistrationDecider_MR ()

Public Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T >
	CRegistrationDeciderOrOptimizer_MR ()

virtual void	setCConnectionManagerPtr (mrpt::graphslam::detail::CConnectionManager *conn_manager)

void	setCGraphSlamEnginePtr (const engine_t *engine)

	~CRegistrationDeciderOrOptimizer_MR ()

Public Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_ROS< GRAPH_T >
	CRegistrationDeciderOrOptimizer_ROS ()

virtual void	setNodeHandle (ros::NodeHandle *nh)

virtual	~CRegistrationDeciderOrOptimizer_ROS ()

Public Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
	CRegistrationDeciderOrOptimizer ()

std::string	getClassName () const

virtual void	initializeLoggers (const std::string &name)

virtual void	initializeVisuals ()

bool	isMultiRobotSlamClass ()

virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)

virtual void	setClassName (const std::string &name)

virtual void	setCriticalSectionPtr (mrpt::synch::CCriticalSection *graph_section)

virtual void	setGraphPtr (GRAPH_T *graph)

virtual void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)

virtual void	updateVisuals ()

virtual	~CRegistrationDeciderOrOptimizer ()

Public Member Functions inherited from mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >
	CRangeScanEdgeRegistrationDecider ()

	~CRangeScanEdgeRegistrationDecider ()

Public Member Functions inherited from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >
	CEdgeRegistrationDecider ()

virtual void	getDescriptiveReport (std::string *report_str) const

virtual void	getEdgesStats (std::map< std::string, int > *edge_type_to_num) const

virtual bool	justInsertedLoopClosure () const

virtual bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0

virtual	~CEdgeRegistrationDecider ()

Additional Inherited Members
Public Types inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T >
typedef CGraphSlamEngine_MR< GRAPH_T >	engine_t

Public Types inherited from mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >
typedef std::map< mrpt::utils::TNodeID, mrpt::obs::CObservation2DRangeScanPtr >	nodes_to_scans2D_t

typedef mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >	parent_t

typedef mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >	range_ops_t

Public Types inherited from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >
typedef GRAPH_T::constraint_t	constraint_t

typedef GRAPH_T::constraint_t	constraint_t

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >	parent

typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >	parent

typedef GRAPH_T::constraint_t::type_value	pose_t

typedef GRAPH_T::constraint_t::type_value	pose_t

Protected Member Functions inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
virtual void	assertVisualsVars ()

Protected Member Functions inherited from mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >
virtual void	loadParams (const std::string &source_fname)

virtual void	printParams () const

Protected Member Functions inherited from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >
virtual void	checkRegistrationCondition (mrpt::utils::TNodeID from, mrpt::utils::TNodeID to)

virtual void	checkRegistrationCondition (const std::set< mrpt::utils::TNodeID > &)

virtual void	checkRegistrationCondition (mrpt::utils::TNodeID from, mrpt::utils::TNodeID to)

virtual void	checkRegistrationCondition (const std::set< mrpt::utils::TNodeID > &)

virtual void	registerNewEdge (const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to, const constraint_t &rel_edge)

Protected Member Functions inherited from mrpt::graphslam::deciders::CRangeScanOps< class >
bool	convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScanPtr &scan3D_in, mrpt::obs::CObservation2DRangeScanPtr *scan2D_out=NULL)

void	decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0)

void	getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t rel_edge, const mrpt::poses::CPose2D initial_pose=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)

void	getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t rel_edge, const mrpt::poses::CPose2D initial_pose=NULL, mrpt::slam::CICP::TReturnInfo *icp_info=NULL)

Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T >
mrpt::graphslam::detail::CConnectionManager *	m_conn_manager
	Pointer to the CConnectionManager instance. More...

const engine_t *	m_engine
	Constant pointer to the CGraphSlamEngine_MR instance. More...

std::string	own_ns

Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_ROS< GRAPH_T >
ros::NodeHandle *	m_nh
	NodeHandle instance. More...

Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
bool	is_mr_slam_class

std::string	m_class_name

GRAPH_T *	m_graph

mrpt::synch::CCriticalSection *	m_graph_section

bool	m_initialized_visuals

mrpt::utils::CTimeLogger	m_time_logger

mrpt::gui::CDisplayWindow3D *	m_win

mrpt::graphslam::CWindowManager *	m_win_manager

mrpt::graphslam::CWindowObserver *	m_win_observer

Protected Attributes inherited from mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >
size_t	m_last_total_num_nodes

nodes_to_scans2D_t	m_nodes_to_laser_scans2D

Protected Attributes inherited from mrpt::graphslam::deciders::CEdgeRegistrationDecider< GRAPH_T >
bool	m_just_inserted_lc

bool	m_override_registered_nodes_check

Protected Attributes inherited from mrpt::graphslam::deciders::CRangeScanOps< class >
TParams	params

Static Protected Attributes inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer< GRAPH_T >
static const std::string	header_sep

static const std::string	report_sep

Detailed Description

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

Edge Registration Decider virtual method.

Edge Registration Decider classes that are to be used in a multi-robot SLAM scheme according to the Condensed Measurements multi-robot strategy by M.T. Lazaro et al. [1] are to inherit from this method.

Note: Condensed Measurements-related classes are suffixed with _MR.; For an example of inheriting from this class, see the mrpt::graphslam::deciders::CLoopCloserERD_MR.

[1] Multi-robot SLAM using Condensed Measurements - M.T. Lazaro, L.M. Paz, P. Pinies, J.A. Castellanos, G. Grisetti

Definition at line 43 of file CEdgeRegistrationDecider_MR.h.

Constructor & Destructor Documentation

template<class GRAPH_T >

mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR< GRAPH_T >::CEdgeRegistrationDecider_MR ( )

Definition at line 15 of file CEdgeRegistrationDecider_MR_impl.h.

template<class GRAPH_T >

mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR< GRAPH_T >::~CEdgeRegistrationDecider_MR ( )

Definition at line 18 of file CEdgeRegistrationDecider_MR_impl.h.

Member Function Documentation

template<class GRAPH_T >

void mrpt::graphslam::deciders::CEdgeRegistrationDecider_MR< GRAPH_T >::addBatchOfNodeIDsAndScans ( const std::map< TNodeID, mrpt::obs::CObservation2DRangeScan::Ptr > & nodeIDs_to_scans2D )

virtual

Reimplemented in mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >.

Definition at line 21 of file CEdgeRegistrationDecider_MR_impl.h.

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

Public Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

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