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mrpt-hmtslam
This library includes an implementation of the HMT-SLAM framework. See the list of classes in mrpt::hmtslam, and the application hmt-slam-gui.
NOTE: For new designs, it is recommended to try the [srba] library instead.
Classes | |
class | mrpt::hmtslam::CHierarchicalMapMHPartition |
Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More... | |
class | mrpt::hmtslam::CHierarchicalMHMap |
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More... | |
class | mrpt::hmtslam::CHMHMapArc |
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More... | |
class | mrpt::hmtslam::CHMHMapNode |
A class for representing a node in a hierarchical, multi-hypothesis map. More... | |
struct | mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromAA |
Message definition: More... | |
struct | mrpt::hmtslam::CHMTSLAM::TMessageLSLAMtoTBI |
Message definition: More... | |
struct | mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI::TBI_info |
struct | mrpt::hmtslam::CHMTSLAM::TMessageLSLAMfromTBI |
Message definition: More... | |
struct | mrpt::hmtslam::CHMTSLAM::TOptions |
A variety of options and configuration params (private, use loadOptions). More... | |
class | mrpt::hmtslam::CHMTSLAM |
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More... | |
class | mrpt::hmtslam::CLSLAMAlgorithmBase |
Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More... | |
struct | mrpt::hmtslam::CLSLAM_RBPF_2DLASER::TPathBin |
Auxiliary structure. More... | |
class | mrpt::hmtslam::CLSLAM_RBPF_2DLASER |
Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More... | |
class | mrpt::hmtslam::CLSLAMParticleData |
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More... | |
class | mrpt::hmtslam::CRobotPosesGraph |
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH. More... | |
struct | mrpt::hmtslam::CTopLCDetector_FabMap::TOptions |
Options for a TLC-detector of type FabMap, used from CHMTSLAM. More... | |
class | mrpt::hmtslam::CTopLCDetector_FabMap |
struct | mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions |
Options for a TLC-detector of type gridmap-matching, used from CHMTSLAM. More... | |
class | mrpt::hmtslam::CTopLCDetector_GridMatching |
class | mrpt::hmtslam::CTopLCDetectorBase |
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More... | |
class | mrpt::hmtslam::THypothesisIDSet |
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More... | |
Namespaces | |
mrpt::hmtslam | |
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM. | |
Related to the input queue: | |
enum | mrpt::hmtslam::CHMTSLAM::TLSlamMethod { mrpt::hmtslam::CHMTSLAM::lsmRBPF_2DLASER = 1 } |
std::queue< mrpt::utils::CSerializablePtr > | mrpt::hmtslam::CHMTSLAM::m_inputQueue |
The queue of pending actions/observations supplied by the user waiting for being processed. More... | |
synch::CCriticalSection | mrpt::hmtslam::CHMTSLAM::m_inputQueue_cs |
Critical section for accessing m_inputQueue. More... | |
synch::CCriticalSection | mrpt::hmtslam::CHMTSLAM::m_map_cs |
Critical section for accessing m_map. More... | |
synch::CCriticalSection | mrpt::hmtslam::CHMTSLAM::m_LMHs_cs |
Critical section for accessing m_LMHs. More... | |
void | mrpt::hmtslam::CHMTSLAM::clearInputQueue () |
Empty the input queue. More... | |
bool | mrpt::hmtslam::CHMTSLAM::isInputQueueEmpty () |
Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More... | |
size_t | mrpt::hmtslam::CHMTSLAM::inputQueueSize () |
Returns the number of objects waiting for processing in the input queue. More... | |
void | mrpt::hmtslam::CHMTSLAM::pushAction (const mrpt::obs::CActionCollectionPtr &acts) |
Here the user can enter an action into the system (will go to the SLAM process). More... | |
void | mrpt::hmtslam::CHMTSLAM::pushObservations (const mrpt::obs::CSensoryFramePtr &sf) |
Here the user can enter observations into the system (will go to the SLAM process). More... | |
void | mrpt::hmtslam::CHMTSLAM::pushObservation (const mrpt::obs::CObservationPtr &obs) |
Here the user can enter an observation into the system (will go to the SLAM process). More... | |
mrpt::utils::CSerializablePtr | mrpt::hmtslam::CHMTSLAM::getNextObjectFromInputQueue () |
Used from the LSLAM thread to retrieve the next object from the queue. More... | |
Enumerator | |
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lsmRBPF_2DLASER |
Definition at line 203 of file CHMTSLAM.h.
void mrpt::hmtslam::CHMTSLAM::clearInputQueue | ( | ) |
Empty the input queue.
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protected |
Used from the LSLAM thread to retrieve the next object from the queue.
size_t mrpt::hmtslam::CHMTSLAM::inputQueueSize | ( | ) |
Returns the number of objects waiting for processing in the input queue.
bool mrpt::hmtslam::CHMTSLAM::isInputQueueEmpty | ( | ) |
Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)
void mrpt::hmtslam::CHMTSLAM::pushAction | ( | const mrpt::obs::CActionCollectionPtr & | acts | ) |
Here the user can enter an action into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
void mrpt::hmtslam::CHMTSLAM::pushObservation | ( | const mrpt::obs::CObservationPtr & | obs | ) |
Here the user can enter an observation into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
void mrpt::hmtslam::CHMTSLAM::pushObservations | ( | const mrpt::obs::CSensoryFramePtr & | sf | ) |
Here the user can enter observations into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
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protected |
The queue of pending actions/observations supplied by the user waiting for being processed.
Definition at line 215 of file CHMTSLAM.h.
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protected |
Critical section for accessing m_inputQueue.
Definition at line 218 of file CHMTSLAM.h.
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protected |
Critical section for accessing m_LMHs.
Definition at line 223 of file CHMTSLAM.h.
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protected |
Critical section for accessing m_map.
Definition at line 221 of file CHMTSLAM.h.
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