Detailed Description

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

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

Classes
struct	TOptions
	Configuration of the algorithm: More...
Public Member Functions
	CIncrementalMapPartitioner ()
	Constructor:
virtual	~CIncrementalMapPartitioner ()
	Destructor:
void	clear ()
	Initialization: Start of a new map, new internal matrices,...
unsigned int	addMapFrame (const CSensoryFramePtr &frame, const 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".
unsigned int	addMapFrame (const CSensoryFramePtr &frame, const 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".
unsigned int	addMapFrame (const CSensoryFrame &frame, const 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".
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.
unsigned int	getNodesCount ()
	It returns the nodes count currently in the internal map/graph.
void	removeSetOfNodes (vector_uint indexesToRemove, bool changeCoordsRef=true)
	Remove the stated nodes (0-based indexes) from the internal lists.
template<class MATRIX >
void	getAdjacencyMatrix (MATRIX &outMatrix) const
	Returns a copy of the internal adjacency matrix.
const CMatrixDouble &	getAdjacencyMatrix () const
	Returns a const ref to the internal adjacency matrix.
const CSimpleMap *	getSequenceOfFrames () const
	Read-only access to the sequence of Sensory Frames.
CSimpleMap *	getSequenceOfFrames ()
	Access to the sequence of Sensory Frames.
void	markAllNodesForReconsideration ()
	Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs.
void	changeCoordinatesOrigin (const CPose3D &newOrigin)
	Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.
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.
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.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Public Attributes
mrpt::slam::CIncrementalMapPartitioner::TOptions	options
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Private Attributes
CSimpleMap	m_individualFrames
	El conjunto de los scans se guardan en un array:
std::deque < mrpt::slam::CMultiMetricMap >	m_individualMaps
CMatrixD	m_A
	Adjacency matrix.
std::vector< vector_uint >	m_last_partition
	The last partition.
bool	m_last_last_partition_are_new_ones
	This will be true after adding new observations, and before an "updatePartitions" is invoked.
std::vector< uint8_t >	m_modified_nodes
	La lista de nodos que hay que tener en cuenta en la proxima actualizacion:
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef CIncrementalMapPartitionerPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CIncrementalMapPartitioner
static mrpt::utils::TRuntimeClassId	classCIncrementalMapPartitioner
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CIncrementalMapPartitionerPtr	Create ()

Member Typedef Documentation

typedef CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::SmartPtr

A typedef for the associated smart pointer

Definition at line 58 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

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

Constructor:

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

Destructor:

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame	(	const CSensoryFramePtr &	frame,
		const 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:

frame	The sensed data
robotPose	An 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

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame	(	const CSensoryFramePtr &	frame,
		const 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:

frame	The sensed data
robotPose	An 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

unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame	(	const CSensoryFrame &	frame,
		const 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:

frame	The sensed data
robotPose	An 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

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

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

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.

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

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

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

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

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

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

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

template<class MATRIX >

void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX & outMatrix ) const [inline]

Returns a copy of the internal adjacency matrix.

Definition at line 168 of file CIncrementalMapPartitioner.h.

const CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const [inline]

Returns a const ref to the internal adjacency matrix.

Definition at line 171 of file CIncrementalMapPartitioner.h.

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

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

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

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

const CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const [inline]

Read-only access to the sequence of Sensory Frames.

Definition at line 175 of file CIncrementalMapPartitioner.h.

CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) [inline]

Access to the sequence of Sensory Frames.

Definition at line 182 of file CIncrementalMapPartitioner.h.

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.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		`[static, inherited]`

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

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

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).

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

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer