#include <mrpt/slam/CIncrementalMapPartitioner.h>
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:. | |
deque_serializable < mrpt::slam::CMultiMetricMap > | m_individualMaps |
CMatrixD | m_A |
Adjacency matrix. | |
vector_serializable < vector_uint_serializable > | 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. | |
vector_serializable< uint8_t > | m_modified_nodes |
La lista de nodos que hay que tener en cuenta en la proxima actualizacion:. |
Definition at line 55 of file CIncrementalMapPartitioner.h.
mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner | ( | ) |
Constructor:.
virtual mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner | ( | ) | [virtual] |
Destructor:.
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".
frame | The sensed data | |
robotPose | An estimation of the robot global 2D pose. |
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".
frame | The sensed data | |
robotPose | An estimation of the robot global 2D pose. |
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".
frame | The sensed data | |
robotPose | An estimation of the robot global 2D pose. |
void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin | ( | const CPose3D & | newOrigin | ) |
void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex | ( | const unsigned & | newOriginPose | ) |
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.
El conjunto de los scans se guardan en un array:.
Definition at line 205 of file CIncrementalMapPartitioner.h.
deque_serializable<mrpt::slam::CMultiMetricMap> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps [private] |
Definition at line 206 of file CIncrementalMapPartitioner.h.
This will be true after adding new observations, and before an "updatePartitions" is invoked.
Definition at line 219 of file CIncrementalMapPartitioner.h.
vector_serializable<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.
Configuration of the algorithm:.
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN:exported at Mon Jan 12 13:00:16 UTC 2009 |