mrpt::slam::CMetricMapBuilder Class Reference

This virtual class is the base for SLAM implementations. More...

#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.
virtual void	initialize (CSensFrameProbSequence &initialMap, 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.
void	clear ()
	Clear all elements of the maps, and reset localization to (0,0,0deg).
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 (CSensFrameProbSequence &out_map)=0
	Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map.
virtual unsigned int	getCurrentlyBuiltMapSize ()=0
	Returns just how many sensorial frames are stored in the currently build map.
virtual CMultiMetricMap *	getCurrentlyBuiltMetricMap ()=0
	Returns the map built so far.
void	enableMapUpdating (bool enable)
	Enables or disables the map updating (default state is enabled).
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.
Public Attributes
struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilder::TOptions	options
	Options for the algorithm.
Protected Member Functions
void	loadCurrentMapFromFile (const char *fileName)
	Load map (CSensFrameProbSequence) from file.
void	saveCurrentMapToFile (const char *fileName)
	Save map (CSensFrameProbSequence) to file.
void	enterCriticalSection ()
	Enter critical section for map updating:.
void	leaveCriticalSection ()
	Leave critical section for map updating:.
Protected Attributes
synch::CCriticalSection	critZoneChangingMap
	Critical zones.

---

Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also:

CMetricMap

Definition at line 48 of file CMetricMapBuilder.h.

---

Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilder::CMetricMapBuilder

(

)

Constructor.

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

(

)

[virtual]

Destructor.

---

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

)

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

void mrpt::slam::CMetricMapBuilder::enterCriticalSection

(

)

[inline, protected]

Enter critical section for map updating:.

Definition at line 65 of file CMetricMapBuilder.h.

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

(

CSensFrameProbSequence &

out_map

)

[pure virtual]

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

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

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

(

)

[pure virtual]

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

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

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

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

virtual void mrpt::slam::CMetricMapBuilder::initialize	(	CSensFrameProbSequence &	initialMap,
		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::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.

void mrpt::slam::CMetricMapBuilder::leaveCriticalSection

(

)

[inline, protected]

Leave critical section for map updating:.

Definition at line 72 of file CMetricMapBuilder.h.

void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile

(

const char *

fileName

)

[protected]

Load map (CSensFrameProbSequence) from file.

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

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

void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile

(

const char *

fileName

)

[protected]

Save map (CSensFrameProbSequence) to file.

---

Member Data Documentation

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

Critical zones.

Definition at line 53 of file CMetricMapBuilder.h.

struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilder::TOptions mrpt::slam::CMetricMapBuilder::options

Options for the algorithm.