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:

Classes
struct	TOptions
	Configuration of the algorithm: More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CIncrementalMapPartitioner ()
	Constructor: More...

virtual	~CIncrementalMapPartitioner ()
	Destructor: More...

void	clear ()
	Initialization: Start of a new map, new internal matrices,... More...

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". More...

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". More...

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". 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 CMatrixDouble &	getAdjacencyMatrix () const
	Returns a const ref to the internal adjacency matrix. More...

const CSimpleMap *	getSequenceOfFrames () const
	Read-only access to the sequence of Sensory Frames. More...

CSimpleMap *	getSequenceOfFrames ()
	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 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...

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). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	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. More...

Private Attributes
CSimpleMap	m_individualFrames
	El conjunto de los scans se guardan en un array: More...

std::deque < mrpt::slam::CMultiMetricMap >	m_individualMaps

CMatrixD	m_A
	Adjacency matrix. More...

std::vector< vector_uint >	m_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_t >	m_modified_nodes
	La lista de nodos que hay que tener en cuenta en la proxima actualizacion: More...

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. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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 36 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 ( )

staticprotected

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 139 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

inlineinherited

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 136 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 142 of file CIncrementalMapPartitioner.h.

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

inline

Returns a const ref to the internal adjacency matrix.

Definition at line 145 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 149 of file CIncrementalMapPartitioner.h.

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

inline

Access to the sequence of Sensory Frames.

Definition at line 156 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.

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t size )

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

static void* mrpt::slam::CIncrementalMapPartitioner::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new[] ( size_t size )

inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

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().

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

protectedvirtual

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

Implements mrpt::utils::CSerializable.

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

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

protectedvirtual

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