#include <CLoopCloserERD_MR.h>

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

Public Types

typedef CLoopCloserERD< GRAPH_T >	lc_parent_t
	Handy typedefs. More...

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 Types inherited from mrpt::graphslam::CRegistrationDeciderOrOptimizer_MR< GRAPH_T >
typedef CGraphSlamEngine_MR< GRAPH_T >	engine_t

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

void	addScanMatchingEdges (TNodeID curr_nodeID)

	CLoopCloserERD_MR ()

void	fetchNodeIDsForScanMatching (const TNodeID &curr_nodeID, std::set< TNodeID > *nodes_set)

bool	updateState (mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)

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

Additional Inherited Members
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...

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 26 of file CLoopCloserERD_MR.h.

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 37 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 36 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

Definition at line 42 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 43 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 34 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 35 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 41 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 40 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 38 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 39 of file CLoopCloserERD_MR.h.

Constructor & Destructor Documentation

template<class GRAPH_T >

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

Definition at line 16 of file CLoopCloserERD_MR_impl.h.

Member Function Documentation

template<class GRAPH_T >

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

virtual

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

Definition at line 27 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::addScanMatchingEdges ( TNodeID curr_nodeID )

Definition at line 39 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

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

Definition at line 54 of file CLoopCloserERD_MR_impl.h.

template<class GRAPH_T >

bool mrpt::graphslam::deciders::CLoopCloserERD_MR< GRAPH_T >::updateState	(	mrpt::obs::CActionCollection::Ptr	action,
		mrpt::obs::CSensoryFrame::Ptr	observations,
		mrpt::obs::CObservation::Ptr	observation
	)

Definition at line 73 of file CLoopCloserERD_MR_impl.h.

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

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

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