#include <CICPCriteriaNRD_MR.h>

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

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Public Types
typedef GRAPH_T::global_pose_t	global_pose_t

typedef CNodeRegistrationDecider_MR< GRAPH_T >	parent_cm

typedef CICPCriteriaNRD< GRAPH_T >	parent_mrpt

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

typedef GRAPH_T::constraint_t	constraint_t

typedef CICPCriteriaNRD< GRAPH_T >	decider_t

typedef CICPCriteriaNRD< GRAPH_T >	decider_t

typedef GRAPH_T::global_pose_t	global_pose_t

typedef GRAPH_T::global_pose_t	global_pose_t

typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	InfMat

typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	InfMat

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

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

typedef GRAPH_T::constraint_t::type_value	pose_t

typedef GRAPH_T::constraint_t::type_value	pose_t

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

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

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

typedef GRAPH_T::constraint_t	constraint_t

typedef GRAPH_T::global_pose_t	global_pose_t

typedef GRAPH_T::global_pose_t	global_pose_t

typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	inf_mat_t

typedef mrpt::math::CMatrixFixedNumeric< double, constraint_t::state_length, constraint_t::state_length >	inf_mat_t

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

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

typedef GRAPH_T::constraint_t::type_value	pose_t

typedef GRAPH_T::constraint_t::type_value	pose_t

Public Types inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_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
	CICPCriteriaNRD_MR ()

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

void	getDescriptiveReport (std::string *report_str) const

void	loadParams (const std::string &source_fname)

void	printParams () const

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

bool	updateState2D (mrpt::obs::CObservation2DRangeScanPtr observation)

bool	updateState3D (mrpt::obs::CObservation3DRangeScanPtr observation)

	~CICPCriteriaNRD ()

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

virtual global_pose_t	getCurrentRobotPosEstimation () const

virtual	~CNodeRegistrationDecider ()

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::CNodeRegistrationDecider_MR< GRAPH_T >
	CNodeRegistrationDecider_MR ()

	~CNodeRegistrationDecider_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
Public Attributes inherited from mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >
TParams	params

Protected Member Functions inherited from mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >
bool	checkRegistrationCondition ()

bool	checkRegistrationCondition2D ()

bool	checkRegistrationCondition3D ()

Protected Member Functions inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
bool	registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)

bool	registerNewNodeAtEnd ()

bool	registerNewNodeAtEnd ()

bool	registerNewNodeAtEnd (const typename GRAPH_T::constraint_t &constraint)

void	resetPDF (constraint_t *c)

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

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 Member Functions inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >
template<>
void	addNodeAnnotsToPose (global_pose_t *pose) const

void	addNodeAnnotsToPose (global_pose_t *pose) const
	Decorate a pose according to the TMRSlamNodeAnnotation fields. More...

Protected Attributes inherited from mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >
mrpt::obs::CObservation2DRangeScanPtr	m_curr_laser_scan2D

mrpt::obs::CObservation3DRangeScanPtr	m_curr_laser_scan3D

pose_t	m_curr_odometry_only_pose

bool	m_is_using_3DScan

mrpt::obs::CObservation2DRangeScanPtr	m_last_laser_scan2D

mrpt::obs::CObservation3DRangeScanPtr	m_last_laser_scan3D

pose_t	m_last_odometry_only_pose

constraint_t	m_latest_odometry_PDF

TSlidingWindow	m_mahal_distance_ICP_odom

int	m_times_used_ICP

int	m_times_used_odom

bool	m_use_angle_difference_node_reg

bool	m_use_distance_node_reg

Protected Attributes inherited from mrpt::graphslam::deciders::CNodeRegistrationDecider< GRAPH_T >
inf_mat_t	m_init_inf_mat

mrpt::utils::TNodeID	m_prev_registered_nodeID

constraint_t	m_since_prev_node_PDF

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::CRangeScanOps< class >
TParams	params

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...

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::CICPCriteriaNRD_MR< GRAPH_T >

Definition at line 18 of file CICPCriteriaNRD_MR.h.

Member Typedef Documentation

template<class GRAPH_T >

typedef GRAPH_T::global_pose_t mrpt::graphslam::deciders::CICPCriteriaNRD_MR< GRAPH_T >::global_pose_t

Definition at line 25 of file CICPCriteriaNRD_MR.h.

template<class GRAPH_T >

typedef CNodeRegistrationDecider_MR<GRAPH_T> mrpt::graphslam::deciders::CICPCriteriaNRD_MR< GRAPH_T >::parent_cm

Definition at line 23 of file CICPCriteriaNRD_MR.h.

template<class GRAPH_T >

typedef CICPCriteriaNRD<GRAPH_T> mrpt::graphslam::deciders::CICPCriteriaNRD_MR< GRAPH_T >::parent_mrpt

Definition at line 24 of file CICPCriteriaNRD_MR.h.

Constructor & Destructor Documentation

template<class GRAPH_T >

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

Definition at line 15 of file CICPCriteriaNRD_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::CICPCriteriaNRD_MR< GRAPH_T >

Member Typedef Documentation

Constructor & Destructor Documentation

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