Public Types | Public Member Functions | Private Member Functions | Private Attributes | List of all members
mrpt::graphslam::CMapMerger Class Reference

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

#include <CMapMerger.h>

Public Types

typedef std::map< TNeighborAgentMapProps *, COccupancyGridMap2D::Ptr > maps_t
 
typedef std::map< TNeighborAgentMapProps *, bool > neighbor_to_is_used_t
 
typedef std::map< TNeighborAgentMapProps *, mrpt::poses::CPose2Dneighbor_to_rel_pose_t
 
typedef std::vector< TNeighborAgentMapProps * > neighbors_t
 
typedef std::map< TNeighborAgentMapProps *, mrpt::opengl::CSetOfLines::Ptr > trajectories_t
 Robot trajectory visual object type. More...
 

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. More...
 
 ~CMapMerger ()
 

Private Member Functions

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

Private Attributes

mrpt::slam::CGridMapAligner::TConfigParams m_alignment_options
 
mrpt::graphslam::detail::CConnectionManager m_conn_manager
 
std::string m_feedback_ns
 
mrpt::graphslam::CWindowManagerm_fused_map_win_manager
 
std::string m_global_ns
 Topic namespace under which current node is going to be publishing. More...
 
mrpt::utils::COutputLogger * m_logger
 
neighbors_t m_neighbors
 CConnectionManager instance for fetching the running graphSLAM agents. More...
 
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. More...
 
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 58 of file CMapMerger.h.

Member Typedef Documentation

typedef std::map<TNeighborAgentMapProps*, COccupancyGridMap2D::Ptr> mrpt::graphslam::CMapMerger::maps_t

Definition at line 61 of file CMapMerger.h.

Definition at line 62 of file CMapMerger.h.

Definition at line 63 of file CMapMerger.h.

Definition at line 69 of file CMapMerger.h.

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

Robot trajectory visual object type.

Definition at line 68 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.

CMapMerger::~CMapMerger ( )

Definition at line 173 of file CMapMerger.cpp.

Member Function Documentation

void CMapMerger::initWindowVisuals ( mrpt::graphslam::CWindowManager win_manager)
private

Definition at line 586 of file CMapMerger.cpp.

CWindowManager * CMapMerger::initWindowVisuals ( )
private

Definition at line 580 of file CMapMerger.cpp.

void CMapMerger::mergeMaps ( )

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.

bool CMapMerger::updateState ( )

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 106 of file CMapMerger.h.

mrpt::graphslam::detail::CConnectionManager mrpt::graphslam::CMapMerger::m_conn_manager
private

Definition at line 95 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::m_feedback_ns
private

Definition at line 104 of file CMapMerger.h.

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

Definition at line 114 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::m_global_ns
private

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

Definition at line 99 of file CMapMerger.h.

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

Definition at line 93 of file CMapMerger.h.

neighbors_t mrpt::graphslam::CMapMerger::m_neighbors
private

CConnectionManager instance for fetching the running graphSLAM agents.

Definition at line 91 of file CMapMerger.h.

std::map<TNeighborAgentMapProps*, CWindowManager*> mrpt::graphslam::CMapMerger::m_neighbors_to_windows
private

Definition at line 92 of file CMapMerger.h.

ros::NodeHandle* mrpt::graphslam::CMapMerger::m_nh
private

Definition at line 94 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::m_options_ns
private

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

Definition at line 103 of file CMapMerger.h.

size_t mrpt::graphslam::CMapMerger::m_queue_size
private

Definition at line 105 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::map_merge_keypress
private

Definition at line 110 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::quit_keypress1
private

Definition at line 108 of file CMapMerger.h.

std::string mrpt::graphslam::CMapMerger::quit_keypress2
private

Definition at line 109 of file CMapMerger.h.

bool mrpt::graphslam::CMapMerger::save_map_merging_results
private

Definition at line 112 of file CMapMerger.h.


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


mrpt_graphslam_2d
Author(s): Nikos Koukis
autogenerated on Sat May 2 2020 03:44:17