Template Class CRegistrationDeciderOrOptimizer

Inheritance Relationships

Base Type

  • public mrpt::system::COutputLogger

Derived Types

Class Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRegistrationDeciderOrOptimizer : public mrpt::system::COutputLogger

Interface for implementing node/edge registration deciders or optimizer classes.

Specific interfaces - for implementing node/edge deciders / optimizers - can inherit from CRegistrationDeciderOrOptimizer so that they can make use of the generic methods defined in the latter.

Note

Convention: For the already implemented deciders/optimizers the following naming convention has been used:

  • NRD: Node Registration Decider class

  • ERD: Edge Registration Decider class

  • GSO: GraphSlam Optimizer class

Subclassed by mrpt::graphslam::deciders::CEdgeRegistrationDecider< mrpt::graphs::CNetworkOfPoses2DInf >, mrpt::graphslam::deciders::CNodeRegistrationDecider< mrpt::graphs::CNetworkOfPoses2DInf >, mrpt::graphslam::optimizers::CGraphSlamOptimizer< mrpt::graphs::CNetworkOfPoses2DInf >

mrpt::graphslam::CWindowManager *m_win_manager = nullptr

Pointer to the CWindowManager object used to store visuals-related instances.

mrpt::gui::CDisplayWindow3D *m_win = nullptr

Window to use.

mrpt::graphslam::CWindowObserver *m_win_observer = nullptr

CWindowObserver object for monitoring various visual-oriented events.

bool m_initialized_visuals = false

Public Functions

CRegistrationDeciderOrOptimizer() = default
~CRegistrationDeciderOrOptimizer() override = default
virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) = 0

Generic method for fetching the incremental action-observations (or observation-only) measurements.

Returns:

True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method

virtual void setWindowManagerPtr(mrpt::graphslam::CWindowManager *win_manager)

Fetch a CWindowManager pointer.

CWindowManager instance should contain a CDisplayWindow3D* and, optionally, a CWindowObserver pointer so that interaction with the window is possible

virtual void setCriticalSectionPtr(std::mutex *graph_section)

Fetch a std::mutex for locking the GRAPH_T resource.

Handy for realising multithreading in the derived classes.

Warning

Beware that prior to the decider/optimizer public method call, the CCriticalSection will already be locked from CGraphSlamEngine_t instance, but this isn’t effective in multithreaded implementations where the decider/optimizer itself has to lock the function at which the extra thread runs.

virtual void initializeVisuals()

Initialize visual objects in CDisplayWindow (e.g. add an object to scene).

See also

setWindowManagerPtr, updateVisuals

Throws:

std::exception – If the method is called without having first provided a CDisplayWindow3D* to the class instance

virtual void updateVisuals()

Update the relevant visual features in CDisplayWindow.

See also

setWindowManagerPtr, initializeVisuals

Throws:

std::exception – If the method is called without having first provided a CDisplayWindow3D* to the class instance

virtual void notifyOfWindowEvents(const std::map<std::string, bool> &events_occurred)

Get a list of the window events that happened since the last call.

Method in derived classes is automatically called from the CGraphSlamEngine_t instance. After that, decider/optimizer should just fetch the parameters that it is interested in.

virtual void loadParams(const std::string &source_fname)

Load the necessary for the decider/optimizer configuration parameters.

virtual void printParams() const

Print the problem parameters - relevant to the decider/optimizer to the screen in a unified/compact way.

virtual void getDescriptiveReport(std::string *report_str) const

Fill the provided string with a detailed report of the decider/optimizer state.

Report should include (part of) the following:

  • Timing of important methods

  • Properties fo class at the current time

  • Logging of commands until current time

virtual void setGraphPtr(GRAPH_T *graph)

Fetch the graph on which the decider/optimizer will work on.

virtual void initializeLoggers(const std::string &name)

Initialize the COutputLogger, CTimeLogger instances given the name of the decider/optimizer at hand.

virtual void setClassName(const std::string &name)
bool isMultiRobotSlamClass()
inline std::string getClassName() const

Protected Functions

virtual void assertVisualsVars()

Handy function for making all the visuals assertions in a compact manner.

Protected Attributes

GRAPH_T *m_graph = nullptr

Pointer to the graph that is under construction.

std::mutex *m_graph_section = nullptr
mrpt::system::CTimeLogger m_time_logger

Time logger instance.

std::string m_class_name = "CRegistrationDeciderOrOptimizer"

Name of the class instance.

bool is_mr_slam_class = false

Boolean indicating if the current class can be used in multi-robot SLAM operations.