mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T > Class Template Reference

Node Registration Decider Interface Class. More...

#include <CNodeRegistrationDecider_MR.h>

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

Public Types
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 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 Member Functions
	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 ()
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	loadParams (const std::string &source_fname)
virtual void	notifyOfWindowEvents (const std::map< std::string, bool > &events_occurred)
virtual void	printParams () const
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< GRAPH_T >
	CNodeRegistrationDecider ()
virtual global_pose_t	getCurrentRobotPosEstimation () const
virtual void	getDescriptiveReport (std::string *report_str) const
virtual bool	updateState (mrpt::obs::CActionCollectionPtr action, mrpt::obs::CSensoryFramePtr observations, mrpt::obs::CObservationPtr observation)=0
virtual	~CNodeRegistrationDecider ()

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

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...
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::CNodeRegistrationDecider< GRAPH_T >
inf_mat_t	m_init_inf_mat
mrpt::utils::TNodeID	m_prev_registered_nodeID
constraint_t	m_since_prev_node_PDF
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::CNodeRegistrationDecider_MR< GRAPH_T >

Node Registration Decider Interface Class.

Node 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::CFixedIntervalsNRD_MR.

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

Definition at line 35 of file CNodeRegistrationDecider_MR.h.

Member Typedef Documentation

template<class GRAPH_T >

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

Definition at line 40 of file CNodeRegistrationDecider_MR.h.

Constructor & Destructor Documentation

template<class GRAPH_T >

mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::CNodeRegistrationDecider_MR

(

)

Definition at line 15 of file CNodeRegistrationDecider_MR_impl.h.

template<class GRAPH_T >

mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::~CNodeRegistrationDecider_MR

(

)

Definition at line 18 of file CNodeRegistrationDecider_MR_impl.h.

Member Function Documentation

template<>

void mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< mrpt::graphs::CNetworkOfPoses2DInf_NA >::addNodeAnnotsToPose ( global_pose_t *  pose ) const

protectedvirtual

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

Definition at line 25 of file CNodeRegistrationDecider_MR_impl.h.

template<class GRAPH_T >

void mrpt::graphslam::deciders::CNodeRegistrationDecider_MR< GRAPH_T >::addNodeAnnotsToPose ( global_pose_t *  pose ) const

protectedvirtual

Decorate a pose according to the TMRSlamNodeAnnotation fields.

Note

Do this only for the nodes that are initially registered in the graph by the current CGraphSlamEngine_t class. Nodes of other graphSLAM-agents that are to be integrated must have already filled these fields.

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

Definition at line 21 of file CNodeRegistrationDecider_MR_impl.h.

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

• CNodeRegistrationDecider_MR.h
• CNodeRegistrationDecider_MR_impl.h