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::CPose2D >	neighbor_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::system::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::CWindowManager *	initWindowVisuals ()
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::CWindowManager *	m_fused_map_win_manager
std::string	m_global_ns
	Topic namespace under which current node is going to be publishing. More...
mrpt::system::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::NodeHandle *	m_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 54 of file CMapMerger.h.

Member Typedef Documentation

maps_t

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

Definition at line 57 of file CMapMerger.h.

neighbor_to_is_used_t

typedef std::map<TNeighborAgentMapProps*, bool> mrpt::graphslam::CMapMerger::neighbor_to_is_used_t

Definition at line 58 of file CMapMerger.h.

neighbor_to_rel_pose_t

typedef std::map<TNeighborAgentMapProps*, mrpt::poses::CPose2D> mrpt::graphslam::CMapMerger::neighbor_to_rel_pose_t

Definition at line 60 of file CMapMerger.h.

neighbors_t

typedef std::vector<TNeighborAgentMapProps*> mrpt::graphslam::CMapMerger::neighbors_t

Definition at line 65 of file CMapMerger.h.

trajectories_t

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

Robot trajectory visual object type.

Definition at line 64 of file CMapMerger.h.

Constructor & Destructor Documentation

CMapMerger()

CMapMerger::CMapMerger	(	mrpt::system::COutputLogger *	logger_in,
		ros::NodeHandle *	nh_in
	)

options.methodSelection = CGridMapAligner::amRobustMatch; // ASSERTION ERROR

Definition at line 136 of file CMapMerger.cpp.

~CMapMerger()

CMapMerger::~CMapMerger

(

)

Definition at line 179 of file CMapMerger.cpp.

Member Function Documentation

initWindowVisuals() [1/2]

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

private

Definition at line 631 of file CMapMerger.cpp.

initWindowVisuals() [2/2]

CWindowManager * CMapMerger::initWindowVisuals ( )

private

Definition at line 624 of file CMapMerger.cpp.

mergeMaps()

void CMapMerger::mergeMaps

(

)

Definition at line 290 of file CMapMerger.cpp.

monitorKeystrokes()

void CMapMerger::monitorKeystrokes ( mrpt::graphslam::CWindowObserver *  win_observer )

private

Compact method for monitoring the given keystrokes for the given observer.

Definition at line 169 of file CMapMerger.cpp.

updateState()

bool CMapMerger::updateState

(

)

Query and fetch the list of new graphSLAM agents.

Returns

True if execution is to continue normally.

Definition at line 199 of file CMapMerger.cpp.

Member Data Documentation

m_alignment_options

mrpt::slam::CGridMapAligner::TConfigParams mrpt::graphslam::CMapMerger::m_alignment_options

private

Definition at line 102 of file CMapMerger.h.

m_conn_manager

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

private

Definition at line 90 of file CMapMerger.h.

m_feedback_ns

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

private

Definition at line 100 of file CMapMerger.h.

m_fused_map_win_manager

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

private

Definition at line 110 of file CMapMerger.h.

m_global_ns

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

private

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

Definition at line 95 of file CMapMerger.h.

m_logger

mrpt::system::COutputLogger* mrpt::graphslam::CMapMerger::m_logger

private

Definition at line 88 of file CMapMerger.h.

m_neighbors

neighbors_t mrpt::graphslam::CMapMerger::m_neighbors

private

CConnectionManager instance for fetching the running graphSLAM agents.

Definition at line 86 of file CMapMerger.h.

m_neighbors_to_windows

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

private

Definition at line 87 of file CMapMerger.h.

m_nh

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

private

Definition at line 89 of file CMapMerger.h.

m_options_ns

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 99 of file CMapMerger.h.

m_queue_size

size_t mrpt::graphslam::CMapMerger::m_queue_size

private

Definition at line 101 of file CMapMerger.h.

map_merge_keypress

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

private

Definition at line 106 of file CMapMerger.h.

quit_keypress1

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

private

Definition at line 104 of file CMapMerger.h.

quit_keypress2

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

private

Definition at line 105 of file CMapMerger.h.

save_map_merging_results

bool mrpt::graphslam::CMapMerger::save_map_merging_results

private

Definition at line 108 of file CMapMerger.h.

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

• CMapMerger.h
• CMapMerger.cpp