mrpt::slam::CMetricMapBuilder Class Reference

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Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also:

CMetricMap

#include <mrpt/slam/CMetricMapBuilder.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilder:

List of all members.

Classes
struct	TOptions
	Options for the algorithm. More...
Public Member Functions
	CMetricMapBuilder ()
	Constructor.
virtual	~CMetricMapBuilder ()
	Destructor.
void	clear ()
	Clear all elements of the maps, and reset localization to (0,0,0deg).
void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled)
void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file.
void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file.
Pure virtual methods to implement in any particular SLAM algorithm
virtual void	initialize (const CSimpleMap &initialMap=CSimpleMap(), CPosePDF *x0=NULL)=0
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
virtual CPose3DPDFPtr	getCurrentPoseEstimation () const =0
	Returns a copy of the current best pose estimation as a pose PDF.
virtual void	processActionObservation (CActionCollection &action, CSensoryFrame &observations)=0
	Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.
virtual void	getCurrentlyBuiltMap (CSimpleMap &out_map) const =0
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
virtual unsigned int	getCurrentlyBuiltMapSize ()=0
	Returns just how many sensory-frames are stored in the currently build map.
virtual CMultiMetricMap *	getCurrentlyBuiltMetricMap ()=0
	Returns the map built so far.
virtual void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)=0
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
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
TOptions	options
Protected Member Functions
void	enterCriticalSection ()
	Enter critical section for map updating:
void	leaveCriticalSection ()
	Leave critical section for map updating:
Protected Attributes
synch::CCriticalSection	critZoneChangingMap
	Critical zones.

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Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilder::CMetricMapBuilder

(

)

Constructor.

virtual mrpt::slam::CMetricMapBuilder::~CMetricMapBuilder

(

)

[virtual]

Destructor.

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Member Function Documentation

void mrpt::slam::CMetricMapBuilder::clear

(

)

Clear all elements of the maps, and reset localization to (0,0,0deg).

Reimplemented in mrpt::slam::CMetricMapBuilderRBPF.

void mrpt::slam::CMetricMapBuilder::enableMapUpdating

(

bool

enable

)

[inline]

Enables or disables the map updating (default state is enabled)

Definition at line 114 of file CMetricMapBuilder.h.

void mrpt::slam::CMetricMapBuilder::enterCriticalSection

(

)

[inline, protected]

Enter critical section for map updating:

Definition at line 63 of file CMetricMapBuilder.h.

virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap

(

CSimpleMap &

out_map

)

const [pure virtual]

Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize

(

)

[pure virtual]

Returns just how many sensory-frames are stored in the currently build map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual CMultiMetricMap* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap

(

)

[pure virtual]

Returns the map built so far.

NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual CPose3DPDFPtr mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation

(

)

const [pure virtual]

Returns a copy of the current best pose estimation as a pose PDF.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual void mrpt::slam::CMetricMapBuilder::initialize	(	const CSimpleMap &	initialMap = CSimpleMap(),
		CPosePDF *	x0 = NULL
	)		[pure virtual]

Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection

(

)

[inline, protected]

Leave critical section for map updating:

Definition at line 67 of file CMetricMapBuilder.h.

void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile

(

const std::string &

fileName

)

Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file.

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::slam::CMetricMapBuilder::processActionObservation	(	CActionCollection &	action,
		CSensoryFrame &	observations
	)		[pure virtual]

Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.

Parameters:

action	The estimation of the incremental pose change in the robot pose.
observations	The set of observations that robot senses at the new pose.

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

virtual void mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage	(	const std::string &	file,
		bool	formatEMF_BMP = true
	)		[pure virtual]

A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.

Parameters:

file	The output file name
formatEMF_BMP	Output format = true:EMF, false:BMP

Implemented in mrpt::slam::CMetricMapBuilderRBPF, and mrpt::slam::CMetricMapBuilderICP.

void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile	(	const std::string &	fileName,
		bool	compressGZ = true
	)		const

Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file.

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Member Data Documentation

synch::CCriticalSection mrpt::slam::CMetricMapBuilder::critZoneChangingMap [protected]

Critical zones.

Definition at line 59 of file CMetricMapBuilder.h.

TOptions mrpt::slam::CMetricMapBuilder::options

Definition at line 150 of file CMetricMapBuilder.h.