mrpt::slam::CMetricMapBuilderICP Class Reference

A class for very simple 2D SLAM based on ICP. More...

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP:

List of all members.

Classes

struct TConfigParams

Algorithm configuration params. More...

Public Member Functions

CMetricMapBuilderICP (TSetOfMetricMapInitializers *mapInitializers, float insertionLinDistance=1.0f, float insertionAngDistance=DEG2RAD(30), CICP::TConfigParams *icpParams=NULL)

Constructor.

virtual ~CMetricMapBuilderICP ()

Destructor:.

void initialize (CSensFrameProbSequence &initialMap, CPosePDF *x0=NULL)

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

CPose3DPDFPtr getCurrentPoseEstimation () const

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

void setCurrentMapFile (const char *mapFile)

Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.

void processActionObservation (CActionCollection &action, CSensoryFrame &in_SF)

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

void getCurrentlyBuiltMap (CSensFrameProbSequence &out_map) const

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

void getCurrentMapPoints (vector_float &x, vector_float &y)

(DEPRECATED) Returns the 2D points of current local map: This is for backward compatibility with the non-BABEL GUI, should be removed when a new GUI integrated into BABEL becomes available.

CMultiMetricMap * getCurrentlyBuiltMetricMap ()

Returns the map built so far.

unsigned int getCurrentlyBuiltMapSize ()

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

void saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)

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

Public Attributes

struct MRPTDLLIMPEXP
mrpt::slam::CMetricMapBuilderICP::TConfigParams ICP_options

Algorithm configuration params.

CICP::TConfigParams ICP_params

Private Attributes

CSensFrameProbSequence SF_Poses_seq

The set of observations that leads to current map:.

CMultiMetricMap metricMap

The metric map representation as a points map:.

bool isTheFirstObservation

Is map updating enabled?

std::string currentMapFile

Current map file.

CPosePDFGaussian estPose

The pose estimation by the alignment algorithm (ICP).

std::deque< CPose2D > estRobotPath

The threshold [0,1] for map update, based on good localization and new information.

float insertionLinDistance

Distances (linear and angular) for inserting a new observation into the map.

float insertionAngDistance

float linDistSinceLast

Traveled distances from last insertion(map update): They are reset at each map update.

float angDistSinceLast

Detailed Description

A class for very simple 2D SLAM based on ICP.

This is a non-probabilistic pose tracking algorithm. Map are stored as in files as binary dumps of "mrpt::slam::CSensFrameProbSequence" objects. The methods are thread-safe.

Definition at line 42 of file CMetricMapBuilderICP.h.

Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP	(	TSetOfMetricMapInitializers *	mapInitializers,
		float	insertionLinDistance = `1.0f`,
		float	insertionAngDistance = `DEG2RAD(30)`,
		CICP::TConfigParams *	icpParams = `NULL`
	)

Constructor.

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

Destructor:.

Member Function Documentation

void mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMap ( CSensFrameProbSequence & out_map ) const [virtual]

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

Implements mrpt::slam::CMetricMapBuilder.

unsigned int mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize ( ) [virtual]

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

Implements mrpt::slam::CMetricMapBuilder.

CMultiMetricMap* mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMetricMap ( ) [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()".

Implements mrpt::slam::CMetricMapBuilder.

void mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints	(	vector_float &	x,
		vector_float &	y
	)

(DEPRECATED) Returns the 2D points of current local map: This is for backward compatibility with the non-BABEL GUI, should be removed when a new GUI integrated into BABEL becomes available.

CPose3DPDFPtr mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation ( ) const [virtual]

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

Implements mrpt::slam::CMetricMapBuilder.

void mrpt::slam::CMetricMapBuilderICP::initialize	(	CSensFrameProbSequence &	initialMap,
		CPosePDF *	x0 = `NULL`
	)			`[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.

Implements mrpt::slam::CMetricMapBuilder.

void mrpt::slam::CMetricMapBuilderICP::processActionObservation	(	CActionCollection &	action,
		CSensoryFrame &	in_SF
	)			`[virtual]`

Appends a new action and observations 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.
	in_SF	The set of observations that robot senses at the new pose. See params in CMetricMapBuilder::options and CMetricMapBuilderICP::ICP_options

Implements mrpt::slam::CMetricMapBuilder.

void mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage	(	const std::string &	file,
		bool	formatEMF_BMP = `true`
	)			`[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

Implements mrpt::slam::CMetricMapBuilder.

void mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile ( const char * mapFile )

Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.

Member Data Documentation

float mrpt::slam::CMetricMapBuilderICP::angDistSinceLast [private]

Definition at line 165 of file CMetricMapBuilderICP.h.

std::string mrpt::slam::CMetricMapBuilderICP::currentMapFile [private]

Current map file.

Definition at line 144 of file CMetricMapBuilderICP.h.

CPosePDFGaussian mrpt::slam::CMetricMapBuilderICP::estPose [private]

The pose estimation by the alignment algorithm (ICP).

Definition at line 148 of file CMetricMapBuilderICP.h.

std::deque<CPose2D> mrpt::slam::CMetricMapBuilderICP::estRobotPath [private]

The threshold [0,1] for map update, based on good localization and new information.

The estimated robot path:

Definition at line 156 of file CMetricMapBuilderICP.h.

struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilderICP::TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_options

Algorithm configuration params.

CICP::TConfigParams mrpt::slam::CMetricMapBuilderICP::ICP_params

Definition at line 74 of file CMetricMapBuilderICP.h.

float mrpt::slam::CMetricMapBuilderICP::insertionAngDistance [private]

Definition at line 160 of file CMetricMapBuilderICP.h.

float mrpt::slam::CMetricMapBuilderICP::insertionLinDistance [private]

Distances (linear and angular) for inserting a new observation into the map.

Definition at line 160 of file CMetricMapBuilderICP.h.

bool mrpt::slam::CMetricMapBuilderICP::isTheFirstObservation [private]

Is map updating enabled?

To always insert the first observation:

Definition at line 140 of file CMetricMapBuilderICP.h.

float mrpt::slam::CMetricMapBuilderICP::linDistSinceLast [private]

Traveled distances from last insertion(map update): They are reset at each map update.

See also:: insertionLinDistance, insertionAngDistance

Definition at line 165 of file CMetricMapBuilderICP.h.

CMultiMetricMap mrpt::slam::CMetricMapBuilderICP::metricMap [private]

The metric map representation as a points map:.

Definition at line 132 of file CMetricMapBuilderICP.h.

CSensFrameProbSequence mrpt::slam::CMetricMapBuilderICP::SF_Poses_seq [private]

The set of observations that leads to current map:.

Definition at line 128 of file CMetricMapBuilderICP.h.


Classes
struct	TConfigParams
	Algorithm configuration params. More...
Public Member Functions
	CMetricMapBuilderICP (TSetOfMetricMapInitializers mapInitializers, float insertionLinDistance=1.0f, float insertionAngDistance=DEG2RAD(30), CICP::TConfigParams icpParams=NULL)
	Constructor.
virtual	~CMetricMapBuilderICP ()
	Destructor:.
void	initialize (CSensFrameProbSequence &initialMap, CPosePDF *x0=NULL)
	Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
CPose3DPDFPtr	getCurrentPoseEstimation () const
	Returns a copy of the current best pose estimation as a pose PDF.
void	setCurrentMapFile (const char *mapFile)
	Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object.
void	processActionObservation (CActionCollection &action, CSensoryFrame &in_SF)
	Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description.
void	getCurrentlyBuiltMap (CSensFrameProbSequence &out_map) const
	Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map.
void	getCurrentMapPoints (vector_float &x, vector_float &y)
	(DEPRECATED) Returns the 2D points of current local map: This is for backward compatibility with the non-BABEL GUI, should be removed when a new GUI integrated into BABEL becomes available.
CMultiMetricMap *	getCurrentlyBuiltMetricMap ()
	Returns the map built so far.
unsigned int	getCurrentlyBuiltMapSize ()
	Returns just how many sensorial frames are stored in the currently build map.
void	saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)
	A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
Public Attributes
struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilderICP::TConfigParams	ICP_options
	Algorithm configuration params.
CICP::TConfigParams	ICP_params
Private Attributes
CSensFrameProbSequence	SF_Poses_seq
	The set of observations that leads to current map:.
CMultiMetricMap	metricMap
	The metric map representation as a points map:.
bool	isTheFirstObservation
	Is map updating enabled?
std::string	currentMapFile
	Current map file.
CPosePDFGaussian	estPose
	The pose estimation by the alignment algorithm (ICP).
std::deque< CPose2D >	estRobotPath
	The threshold [0,1] for map update, based on good localization and new information.
float	insertionLinDistance
	Distances (linear and angular) for inserting a new observation into the map.
float	insertionAngDistance
float	linDistSinceLast
	Traveled distances from last insertion(map update): They are reset at each map update.
float	angDistSinceLast