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>
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 CMatrixDouble & | getAdjacencyMatrix () const |
Returns a const ref to the internal adjacency matrix. | |
const CSimpleMap * | getSequenceOfFrames () const |
Read-only access to the sequence of Sensory Frames. | |
CSimpleMap * | 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 |
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_uint > | 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. | |
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CIncrementalMapPartitionerPtr | Create () |
A typedef for the associated smart pointer
Definition at line 59 of file CIncrementalMapPartitioner.h.
mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner | ( | ) |
Constructor:
virtual mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner | ( | ) | [virtual] |
Destructor:
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".
frame | The sensed data |
robotPose | An estimation of the robot global 2D pose. |
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 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 | ) |
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.
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.
mrpt::utils::CLASSINIT mrpt::slam::CIncrementalMapPartitioner::_init_CIncrementalMapPartitioner [static, protected] |
Definition at line 59 of file CIncrementalMapPartitioner.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CIncrementalMapPartitioner::classCIncrementalMapPartitioner [static] |
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.
std::deque<mrpt::slam::CMultiMetricMap> mrpt::slam::CIncrementalMapPartitioner::m_individualMaps [private] |
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.
std::vector<vector_uint> mrpt::slam::CIncrementalMapPartitioner::m_last_partition [private] |
The last partition.
Definition at line 219 of file CIncrementalMapPartitioner.h.
std::vector<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 227 of file CIncrementalMapPartitioner.h.
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