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mrpt::slam::CIncrementalMapPartitioner Class Reference

Detailed Description

This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes.

Definition at line 33 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:
Inheritance graph

Classes

struct  TOptions
 Configuration of the algorithm: More...
 

Public Member Functions

 CIncrementalMapPartitioner ()
 Constructor: More...
 
virtual ~CIncrementalMapPartitioner ()
 Destructor: More...
 
void clear ()
 Initialization: Start of a new map, new internal matrices,... More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::CPosePDFPtr &robotPose2D)
 Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::CPose3DPDFPtr &robotPose3D)
 Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::CPose3DPDF &robotPose3D)
 Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". More...
 
void updatePartitions (std::vector< vector_uint > &partitions)
 This method executed only the neccesary part of the partition to take into account the lastest added frames. More...
 
unsigned int getNodesCount ()
 It returns the nodes count currently in the internal map/graph. More...
 
void removeSetOfNodes (vector_uint indexesToRemove, bool changeCoordsRef=true)
 Remove the stated nodes (0-based indexes) from the internal lists. More...
 
template<class MATRIX >
void getAdjacencyMatrix (MATRIX &outMatrix) const
 Returns a copy of the internal adjacency matrix. More...
 
const mrpt::math::CMatrixDoublegetAdjacencyMatrix () const
 Returns a const ref to the internal adjacency matrix. More...
 
const mrpt::maps::CSimpleMapgetSequenceOfFrames () const
 Read-only access to the sequence of Sensory Frames. More...
 
mrpt::maps::CSimpleMapgetSequenceOfFrames ()
 Access to the sequence of Sensory Frames. More...
 
void markAllNodesForReconsideration ()
 Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. More...
 
void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
 Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. More...
 
void changeCoordinatesOriginPoseIndex (const unsigned &newOriginPose)
 Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. More...
 
void getAs3DScene (mrpt::opengl::CSetOfObjectsPtr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const
 Returns a 3D representation of the current state: poses & links between them. More...
 

Static Public Member Functions

static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 

Public Attributes

mrpt::slam::CIncrementalMapPartitioner::TOptions options
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Private Attributes

mrpt::maps::CSimpleMap m_individualFrames
 
std::deque< mrpt::maps::CMultiMetricMapm_individualMaps
 
mrpt::math::CMatrixD m_A
 Adjacency matrix. More...
 
std::vector< vector_uintm_last_partition
 The last partition. More...
 
bool m_last_last_partition_are_new_ones
 This will be true after adding new observations, and before an "updatePartitions" is invoked. More...
 
std::vector< uint8_tm_modified_nodes
 The list of keyframes to consider in the next update. More...
 

RTTI stuff <br>

typedef CIncrementalMapPartitionerPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CIncrementalMapPartitioner
 
static mrpt::utils::TRuntimeClassId classCIncrementalMapPartitioner
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CIncrementalMapPartitionerPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 36 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

◆ CIncrementalMapPartitioner()

mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner ( )

Constructor:

◆ ~CIncrementalMapPartitioner()

virtual mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner ( )
virtual

Destructor:

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::slam::CIncrementalMapPartitioner::_GetBaseClass ( )
staticprotected

◆ addMapFrame() [1/3]

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame ( const mrpt::obs::CSensoryFrame frame,
const mrpt::poses::CPose3DPDF robotPose3D 
)

Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions".

Parameters
frameThe sensed data
robotPoseAn estimation of the robot global 2D pose.
Returns
The index of the new pose in the internal list, which will be used to refer to the pose in the future.
See also
updatePartitions

◆ addMapFrame() [2/3]

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame ( const mrpt::obs::CSensoryFramePtr frame,
const mrpt::poses::CPose3DPDFPtr robotPose3D 
)

Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions".

Parameters
frameThe sensed data
robotPoseAn estimation of the robot global 2D pose.
Returns
The index of the new pose in the internal list, which will be used to refer to the pose in the future.
See also
updatePartitions

◆ addMapFrame() [3/3]

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame ( const mrpt::obs::CSensoryFramePtr frame,
const mrpt::poses::CPosePDFPtr robotPose2D 
)

Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions".

Parameters
frameThe sensed data
robotPoseAn estimation of the robot global 2D pose.
Returns
The index of the new pose in the internal list, which will be used to refer to the pose in the future.
See also
updatePartitions

◆ changeCoordinatesOrigin()

void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin ( const mrpt::poses::CPose3D newOrigin)

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

◆ changeCoordinatesOriginPoseIndex()

void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex ( const unsigned &  newOriginPose)

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin.

◆ clear()

void mrpt::slam::CIncrementalMapPartitioner::clear ( )

Initialization: Start of a new map, new internal matrices,...

◆ Create()

static CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::slam::CIncrementalMapPartitioner::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::slam::CIncrementalMapPartitioner::duplicate ( ) const
virtual

◆ getAdjacencyMatrix() [1/2]

const mrpt::math::CMatrixDouble & mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const
inline

Returns a const ref to the internal adjacency matrix.


Definition at line 138 of file CIncrementalMapPartitioner.h.

◆ getAdjacencyMatrix() [2/2]

template<class MATRIX >
void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX &  outMatrix) const
inline

Returns a copy of the internal adjacency matrix.


Definition at line 135 of file CIncrementalMapPartitioner.h.

◆ getAs3DScene()

void mrpt::slam::CIncrementalMapPartitioner::getAs3DScene ( mrpt::opengl::CSetOfObjectsPtr objs,
const std::map< uint32_t, int64_t > *  renameIndexes = NULL 
) const

Returns a 3D representation of the current state: poses & links between them.

The previous contents of "objs" will be discarded

◆ getNodesCount()

unsigned int mrpt::slam::CIncrementalMapPartitioner::getNodesCount ( )

It returns the nodes count currently in the internal map/graph.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClass ( ) const
virtual

◆ getSequenceOfFrames() [1/2]

mrpt::maps::CSimpleMap * mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( )
inline

Access to the sequence of Sensory Frames.

Definition at line 149 of file CIncrementalMapPartitioner.h.

◆ getSequenceOfFrames() [2/2]

const mrpt::maps::CSimpleMap * mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const
inline

Read-only access to the sequence of Sensory Frames.

Definition at line 142 of file CIncrementalMapPartitioner.h.

◆ markAllNodesForReconsideration()

void mrpt::slam::CIncrementalMapPartitioner::markAllNodesForReconsideration ( )

Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ readFromStream()

void mrpt::slam::CIncrementalMapPartitioner::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ removeSetOfNodes()

void mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes ( vector_uint  indexesToRemove,
bool  changeCoordsRef = true 
)

Remove the stated nodes (0-based indexes) from the internal lists.

If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0).

◆ updatePartitions()

void mrpt::slam::CIncrementalMapPartitioner::updatePartitions ( std::vector< vector_uint > &  partitions)

This method executed only the neccesary part of the partition to take into account the lastest added frames.

See also
addMapFrame

◆ writeToStream()

void mrpt::slam::CIncrementalMapPartitioner::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CIncrementalMapPartitioner

mrpt::utils::CLASSINIT mrpt::slam::CIncrementalMapPartitioner::_init_CIncrementalMapPartitioner
staticprotected

Definition at line 36 of file CIncrementalMapPartitioner.h.

◆ classCIncrementalMapPartitioner

mrpt::utils::TRuntimeClassId mrpt::slam::CIncrementalMapPartitioner::classCIncrementalMapPartitioner
static

Definition at line 36 of file CIncrementalMapPartitioner.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::classinfo
static

Definition at line 36 of file CIncrementalMapPartitioner.h.

◆ m_A

mrpt::math::CMatrixD mrpt::slam::CIncrementalMapPartitioner::m_A
private

Adjacency matrix.

Definition at line 177 of file CIncrementalMapPartitioner.h.

◆ m_individualFrames

mrpt::maps::CSimpleMap mrpt::slam::CIncrementalMapPartitioner::m_individualFrames
private

Definition at line 173 of file CIncrementalMapPartitioner.h.

◆ m_individualMaps

std::deque<mrpt::maps::CMultiMetricMap> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps
private

Definition at line 174 of file CIncrementalMapPartitioner.h.

◆ m_last_last_partition_are_new_ones

bool mrpt::slam::CIncrementalMapPartitioner::m_last_last_partition_are_new_ones
private

This will be true after adding new observations, and before an "updatePartitions" is invoked.

Definition at line 183 of file CIncrementalMapPartitioner.h.

◆ m_last_partition

std::vector<vector_uint> mrpt::slam::CIncrementalMapPartitioner::m_last_partition
private

The last partition.

Definition at line 180 of file CIncrementalMapPartitioner.h.

◆ m_modified_nodes

std::vector<uint8_t> mrpt::slam::CIncrementalMapPartitioner::m_modified_nodes
private

The list of keyframes to consider in the next update.

Definition at line 186 of file CIncrementalMapPartitioner.h.

◆ options

mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::slam::CIncrementalMapPartitioner::options



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