[mrpt-hmtslam]

Detailed Description

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Library mrpt-hmtslam

---

This library includes an implementation of the HMT-SLAM framework. See the list of classes in mrpt::hmtslam, and the application hmt-slam-gui.

NOTE: For new designs, it is recommended to try the [mrpt-srba] library instead.

Classes
class	mrpt::hmtslam::CHierarchicalMapMHPartition
	Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHierarchicalMHMap
	The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
class	mrpt::hmtslam::CHMHMapArc
	A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMHMapNode
	A class for representing a node in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMTSLAM
	An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
struct	mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA
	Message definition: More...
struct	mrpt::hmtslam::CHMTSLAM::TMessageLSLAMtoTBI
	Message definition: More...
struct	mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI
	Message definition: More...
struct	mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info
struct	mrpt::hmtslam::CHMTSLAM::TOptions
	A variety of options and configuration params (private, use loadOptions). More...
class	mrpt::hmtslam::CLSLAMAlgorithmBase
	Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More...
class	mrpt::hmtslam::CLSLAM_RBPF_2DLASER
	Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...
struct	mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin
	Auxiliary structure. More...
class	mrpt::hmtslam::CLSLAMParticleData
	Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More...
class	mrpt::hmtslam::CRobotPosesGraph
	Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH. More...
class	mrpt::hmtslam::CTopLCDetector_FabMap
class	mrpt::hmtslam::CTopLCDetector_GridMatching
class	mrpt::hmtslam::CTopLCDetectorBase
	The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
class	mrpt::hmtslam::THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...

Namespaces
	mrpt::hmtslam
	Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

Related to the input queue:
enum	mrpt::hmtslam::CHMTSLAM::TLSlamMethod { mrpt::hmtslam::CHMTSLAM::lsmRBPF_2DLASER = 1 }
std::queue< CSerializablePtr >	mrpt::hmtslam::CHMTSLAM::m_inputQueue
	The queue of pending actions/observations supplied by the user waiting for being processed. More...
synch::CCriticalSection	mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs
	Critical section for accessing m_inputQueue. More...
synch::CCriticalSection	mrpt::hmtslam::CHMTSLAM::m_map_cs
	Critical section for accessing m_map. More...
synch::CCriticalSection	mrpt::hmtslam::CHMTSLAM::m_LMHs_cs
	Critical section for accessing m_LMHs. More...
void	mrpt::hmtslam::CHMTSLAM::clearInputQueue ()
	Empty the input queue. More...
bool	mrpt::hmtslam::CHMTSLAM::isInputQueueEmpty ()
	Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More...
size_t	mrpt::hmtslam::CHMTSLAM::inputQueueSize ()
	Returns the number of objects waiting for processing in the input queue. More...
void	mrpt::hmtslam::CHMTSLAM::pushAction (const CActionCollectionPtr &acts)
	Here the user can enter an action into the system (will go to the SLAM process). More...
void	mrpt::hmtslam::CHMTSLAM::pushObservations (const CSensoryFramePtr &sf)
	Here the user can enter observations into the system (will go to the SLAM process). More...
void	mrpt::hmtslam::CHMTSLAM::pushObservation (const CObservationPtr &obs)
	Here the user can enter an observation into the system (will go to the SLAM process). More...
CSerializablePtr	mrpt::hmtslam::CHMTSLAM::getNextObjectFromInputQueue ()
	Used from the LSLAM thread to retrieve the next object from the queue. More...

Enumeration Type Documentation

enum mrpt::hmtslam::CHMTSLAM::TLSlamMethod

Enumerator
lsmRBPF_2DLASER

Definition at line 210 of file CHMTSLAM.h.

Function Documentation

void mrpt::hmtslam::CHMTSLAM::clearInputQueue

(

)

Empty the input queue.

CSerializablePtr mrpt::hmtslam::CHMTSLAM::getNextObjectFromInputQueue ( )

protected

Used from the LSLAM thread to retrieve the next object from the queue.

Returns

The object, or NULL if empty.

size_t mrpt::hmtslam::CHMTSLAM::inputQueueSize

(

)

Returns the number of objects waiting for processing in the input queue.

See also

pushAction,pushObservations, isInputQueueEmpty

bool mrpt::hmtslam::CHMTSLAM::isInputQueueEmpty

(

)

Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)

See also

pushAction,pushObservations, inputQueueSize

void mrpt::hmtslam::CHMTSLAM::pushAction

(

const CActionCollectionPtr &

acts

)

Here the user can enter an action into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also

pushObservations,pushObservation

void mrpt::hmtslam::CHMTSLAM::pushObservation

(

const CObservationPtr &

obs

)

Here the user can enter an observation into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also

pushAction,pushObservation

void mrpt::hmtslam::CHMTSLAM::pushObservations

(

const CSensoryFramePtr &

sf

)

Here the user can enter observations into the system (will go to the SLAM process).

This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.

See also

pushAction,pushObservation

Variable Documentation

std::queue<CSerializablePtr> mrpt::hmtslam::CHMTSLAM::m_inputQueue

protected

The queue of pending actions/observations supplied by the user waiting for being processed.

Definition at line 222 of file CHMTSLAM.h.

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs

protected

Critical section for accessing m_inputQueue.

Definition at line 225 of file CHMTSLAM.h.

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_LMHs_cs

protected

Critical section for accessing m_LMHs.

Definition at line 230 of file CHMTSLAM.h.

synch::CCriticalSection mrpt::hmtslam::CHMTSLAM::m_map_cs

protected

Critical section for accessing m_map.

Definition at line 228 of file CHMTSLAM.h.