Main MRPT website > C++ reference for MRPT 1.3.2
List of all members | Classes | Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | Private Attributes
mrpt::slam::CIncrementalMapPartitioner Class Reference

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 33 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:
Inheritance graph

Classes

struct  TOptions
 Configuration of the algorithm: More...
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CIncrementalMapPartitioner ()
 Constructor: More...
 
virtual ~CIncrementalMapPartitioner ()
 Destructor: More...
 
void clear ()
 Initialization: Start of a new map, new internal matrices,... More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::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". More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFramePtr &frame, const mrpt::poses::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". More...
 
unsigned int addMapFrame (const mrpt::obs::CSensoryFrame &frame, const mrpt::poses::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". More...
 
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. More...
 
unsigned int getNodesCount ()
 It returns the nodes count currently in the internal map/graph. More...
 
void removeSetOfNodes (vector_uint indexesToRemove, bool changeCoordsRef=true)
 Remove the stated nodes (0-based indexes) from the internal lists. More...
 
template<class MATRIX >
void getAdjacencyMatrix (MATRIX &outMatrix) const
 Returns a copy of the internal adjacency matrix. More...
 
const mrpt::math::CMatrixDoublegetAdjacencyMatrix () const
 Returns a const ref to the internal adjacency matrix. More...
 
const mrpt::maps::CSimpleMapgetSequenceOfFrames () const
 Read-only access to the sequence of Sensory Frames. More...
 
mrpt::maps::CSimpleMapgetSequenceOfFrames ()
 Access to the sequence of Sensory Frames. More...
 
void markAllNodesForReconsideration ()
 Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. More...
 
void changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
 Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. More...
 
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. More...
 
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. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 
static void printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 

Public Attributes

mrpt::slam::CIncrementalMapPartitioner::TOptions options
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Private Attributes

mrpt::maps::CSimpleMap m_individualFrames
 
std::deque< mrpt::maps::CMultiMetricMapm_individualMaps
 
mrpt::math::CMatrixD m_A
 Adjacency matrix. More...
 
std::vector< vector_uintm_last_partition
 The last partition. More...
 
bool m_last_last_partition_are_new_ones
 This will be true after adding new observations, and before an "updatePartitions" is invoked. More...
 
std::vector< uint8_t > m_modified_nodes
 The list of keyframes to consider in the next update. More...
 

RTTI stuff

typedef CIncrementalMapPartitionerPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CIncrementalMapPartitioner
 
static mrpt::utils::TRuntimeClassId classCIncrementalMapPartitioner
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CIncrementalMapPartitionerPtr Create ()
 

Member Typedef Documentation

typedef CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::SmartPtr

A typedef for the associated smart pointer

Definition at line 36 of file CIncrementalMapPartitioner.h.

Constructor & Destructor Documentation

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

Constructor:

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

Destructor:

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::_GetBaseClass ( )
staticprotected
unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame ( const mrpt::obs::CSensoryFramePtr &  frame,
const mrpt::poses::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
frameThe sensed data
robotPoseAn 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 mrpt::obs::CSensoryFramePtr &  frame,
const mrpt::poses::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
frameThe sensed data
robotPoseAn 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 mrpt::obs::CSensoryFrame frame,
const mrpt::poses::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
frameThe sensed data
robotPoseAn 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 mrpt::poses::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,...

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CIncrementalMapPartitionerPtr mrpt::slam::CIncrementalMapPartitioner::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CIncrementalMapPartitioner::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CIncrementalMapPartitioner::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

template<class MATRIX >
void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( MATRIX &  outMatrix) const
inline

Returns a copy of the internal adjacency matrix.

Definition at line 142 of file CIncrementalMapPartitioner.h.

const mrpt::math::CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const
inline

Returns a const ref to the internal adjacency matrix.

Definition at line 145 of file CIncrementalMapPartitioner.h.

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.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

const mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const
inline

Read-only access to the sequence of Sensory Frames.

Definition at line 149 of file CIncrementalMapPartitioner.h.

mrpt::maps::CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( )
inline

Access to the sequence of Sensory Frames.

Definition at line 156 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::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void mrpt::slam::CIncrementalMapPartitioner::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t  size)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

static void* mrpt::slam::CIncrementalMapPartitioner::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 36 of file CIncrementalMapPartitioner.h.

void* mrpt::slam::CIncrementalMapPartitioner::operator new[] ( size_t  size)
inline

Definition at line 36 of file CIncrementalMapPartitioner.h.

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

void mrpt::slam::CIncrementalMapPartitioner::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

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
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void mrpt::slam::CIncrementalMapPartitioner::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CIncrementalMapPartitioner::_init_CIncrementalMapPartitioner
staticprotected

Definition at line 36 of file CIncrementalMapPartitioner.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CIncrementalMapPartitioner::classCIncrementalMapPartitioner
static

Definition at line 36 of file CIncrementalMapPartitioner.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CIncrementalMapPartitioner::classinfo
static

Definition at line 36 of file CIncrementalMapPartitioner.h.

mrpt::math::CMatrixD mrpt::slam::CIncrementalMapPartitioner::m_A
private

Adjacency matrix.

Definition at line 184 of file CIncrementalMapPartitioner.h.

mrpt::maps::CSimpleMap mrpt::slam::CIncrementalMapPartitioner::m_individualFrames
private

Definition at line 180 of file CIncrementalMapPartitioner.h.

std::deque<mrpt::maps::CMultiMetricMap> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps
private

Definition at line 181 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 190 of file CIncrementalMapPartitioner.h.

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

The last partition.

Definition at line 187 of file CIncrementalMapPartitioner.h.

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

The list of keyframes to consider in the next update.

Definition at line 193 of file CIncrementalMapPartitioner.h.

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



Page generated by Doxygen 1.8.9.1 for MRPT 1.3.2 SVN:Unversioned directory at Thu Dec 10 00:07:55 UTC 2015