mrpt::slam::CMetricMapBuilder Class Reference

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Detailed Description

This virtual class is the base for SLAM implementations.

See derived classes for more information.

See also:

CMetricMap

Definition at line 51 of file CMetricMapBuilder.h.

#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 (const CSimpleMap &initialMap=CSimpleMap(), 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 (CSimpleMap &out_map) const =0
	Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
virtual unsigned int	getCurrentlyBuiltMapSize ()=0
	Returns just how many sensory-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.
void	loadCurrentMapFromFile (const std::string &fileName)
	Load map (CSimpleMap) from a ".simplemap" file.
void	saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const
	Save map (CSimpleMap) to a ".simplemap" file.
Public Attributes
struct SLAM_IMPEXP mrpt::slam::CMetricMapBuilder::TOptions	options
Protected Member Functions
void	enterCriticalSection ()
	Enter critical section for map updating:
void	leaveCriticalSection ()
	Leave critical section for map updating:
Protected Attributes
synch::CCriticalSection	critZoneChangingMap
	Critical zones.

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Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilder::CMetricMapBuilder

(

)

Constructor.

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

(

)

[virtual]

Destructor.

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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 60 of file CMetricMapBuilder.h.

References mrpt::synch::CCriticalSection::enter().

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

(

CSimpleMap &

out_map )

const [pure virtual]

Fills "out_map" with the set of "poses"-"sensory-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 sensory-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	(	const CSimpleMap &	initialMap = CSimpleMap(),
		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 67 of file CMetricMapBuilder.h.

void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile

(

const std::string &

fileName )

Load map (CSimpleMap) from a ".simplemap" 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 std::string &	fileName,
		bool	compressGZ = true
	)		const

Save map (CSimpleMap) to a ".simplemap" file.

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Member Data Documentation

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

Critical zones.

Definition at line 56 of file CMetricMapBuilder.h.

struct SLAM_IMPEXP mrpt::slam::CMetricMapBuilder::TOptions mrpt::slam::CMetricMapBuilder::options