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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 56 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:
Inheritance graph
[legend]

List of all members.

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.
template<class MATRIX >
void getAdjacencyMatrix (MATRIX &outMatrix) const
 Returns a copy of the internal adjacency matrix.
const CMatrixDoublegetAdjacencyMatrix () const
 Returns a const ref to the internal adjacency matrix.
const CSimpleMapgetSequenceOfFrames () const
 Read-only access to the sequence of Sensory Frames.
CSimpleMapgetSequenceOfFrames ()
 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

Private Attributes

CSimpleMap m_individualFrames
 El conjunto de los scans se guardan en un array:
std::deque
< mrpt::slam::CMultiMetricMap
m_individualMaps
CMatrixD m_A
 Adjacency matrix.
std::vector< vector_uintm_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.
std::vector< uint8_t > m_modified_nodes
 La lista de nodos que hay que tener en cuenta en la proxima actualizacion:

RTTI stuff

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

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 59 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 ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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".

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 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".

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 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".

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 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,...

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.

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

Returns a copy of the internal adjacency matrix.

Definition at line 169 of file CIncrementalMapPartitioner.h.

const CMatrixDouble& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix ( ) const [inline]

Returns a const ref to the internal adjacency matrix.

Definition at line 172 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.

CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) [inline]

Access to the sequence of Sensory Frames.

Definition at line 183 of file CIncrementalMapPartitioner.h.

const CSimpleMap* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames ( ) const [inline]

Read-only access to the sequence of Sensory Frames.

Definition at line 176 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.

See also:
addMapFrame

Member Data Documentation

Definition at line 59 of file CIncrementalMapPartitioner.h.

Definition at line 59 of file CIncrementalMapPartitioner.h.

Definition at line 59 of file CIncrementalMapPartitioner.h.

Adjacency matrix.

Definition at line 215 of file CIncrementalMapPartitioner.h.

El conjunto de los scans se guardan en un array:

Definition at line 209 of file CIncrementalMapPartitioner.h.

Definition at line 210 of file CIncrementalMapPartitioner.h.

This will be true after adding new observations, and before an "updatePartitions" is invoked.

Definition at line 223 of file CIncrementalMapPartitioner.h.

The last partition.

Definition at line 219 of file CIncrementalMapPartitioner.h.

La lista de nodos que hay que tener en cuenta en la proxima actualizacion:

Definition at line 227 of file CIncrementalMapPartitioner.h.




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