mrpt::slam::CIncrementalMapPartitioner Class Reference

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

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:

List of all members.

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.

void getAdjacencyMatrix (CMatrix &outMatrix) const

Returns a copy of the internal adjacency matrix.

const CSensFrameProbSequence * getSequenceOfFrames () const

Read-only access to the sequence of Sensory Frames.

CSensFrameProbSequence * 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.

Public Attributes

mrpt::slam::CIncrementalMapPartitioner::TOptions options

Configuration of the algorithm:.

Private Attributes

CSensFrameProbSequence 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:.

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 55 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

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

Constructor:.

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

Destructor:.

Member Function Documentation

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

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 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

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,.

..

void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( CMatrix & outMatrix ) const

Returns a copy of the internal adjacency matrix.

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.

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

Access to the sequence of Sensory Frames.

Definition at line 179 of file CIncrementalMapPartitioner.h.

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

Read-only access to the sequence of Sensory Frames.

Definition at line 172 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::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

Member Data Documentation

CMatrixD mrpt::slam::CIncrementalMapPartitioner::m_A [private]

Adjacency matrix.

Definition at line 211 of file CIncrementalMapPartitioner.h.

CSensFrameProbSequence mrpt::slam::CIncrementalMapPartitioner::m_individualFrames [private]

El conjunto de los scans se guardan en un array:.

Definition at line 205 of file CIncrementalMapPartitioner.h.

std::deque<mrpt::slam::CMultiMetricMap> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps [private]

Definition at line 206 of file CIncrementalMapPartitioner.h.

bool mrpt::slam::CIncrementalMapPartitioner::m_last_last_partition_are_new_ones [private]

This will be true after adding new observations, and before an "updatePartitions" is invoked.

Definition at line 219 of file CIncrementalMapPartitioner.h.

std::vector<vector_uint> mrpt::slam::CIncrementalMapPartitioner::m_last_partition [private]

The last partition.

Definition at line 215 of file CIncrementalMapPartitioner.h.

std::vector<uint8_t> mrpt::slam::CIncrementalMapPartitioner::m_modified_nodes [private]

La lista de nodos que hay que tener en cuenta en la proxima actualizacion:.

Definition at line 223 of file CIncrementalMapPartitioner.h.

mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::slam::CIncrementalMapPartitioner::options

Configuration of the algorithm:.


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.
void	getAdjacencyMatrix (CMatrix &outMatrix) const
	Returns a copy of the internal adjacency matrix.
const CSensFrameProbSequence *	getSequenceOfFrames () const
	Read-only access to the sequence of Sensory Frames.
CSensFrameProbSequence *	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.
Public Attributes
mrpt::slam::CIncrementalMapPartitioner::TOptions	options
	Configuration of the algorithm:.
Private Attributes
CSensFrameProbSequence	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:.