#include <mrpt/slam/CMetricMapBuilder.h>
Classes | |
struct | TOptions |
Options for the algorithm. More... | |
Public Member Functions | |
CMetricMapBuilder () | |
Constructor. | |
virtual | ~CMetricMapBuilder () |
Destructor. | |
virtual void | initialize (CSensFrameProbSequence &initialMap, CPosePDF *x0=NULL)=0 |
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. | |
void | clear () |
Clear all elements of the maps, and reset localization to (0,0,0deg). | |
virtual CPose3DPDFPtr | getCurrentPoseEstimation () const =0 |
Returns a copy of the current best pose estimation as a pose PDF. | |
virtual void | processActionObservation (CActionCollection &action, CSensoryFrame &observations)=0 |
Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description. | |
virtual void | getCurrentlyBuiltMap (CSensFrameProbSequence &out_map) const =0 |
Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map. | |
virtual unsigned int | getCurrentlyBuiltMapSize ()=0 |
Returns just how many sensorial frames are stored in the currently build map. | |
virtual CMultiMetricMap * | getCurrentlyBuiltMetricMap ()=0 |
Returns the map built so far. | |
void | enableMapUpdating (bool enable) |
Enables or disables the map updating (default state is enabled). | |
virtual void | saveCurrentEstimationToImage (const std::string &file, bool formatEMF_BMP=true)=0 |
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. | |
void | loadCurrentMapFromFile (const std::string &fileName) |
Load map (CSensFrameProbSequence) from a ".simplemap" file. | |
void | saveCurrentMapToFile (const std::string &fileName, bool compressGZ=true) const |
Save map (CSensFrameProbSequence) to a ".simplemap" file. | |
Public Attributes | |
struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilder::TOptions | options |
Options for the algorithm. | |
Protected Member Functions | |
void | enterCriticalSection () |
Enter critical section for map updating:. | |
void | leaveCriticalSection () |
Leave critical section for map updating:. | |
Protected Attributes | |
synch::CCriticalSection | critZoneChangingMap |
Critical zones. |
See derived classes for more information.
Definition at line 48 of file CMetricMapBuilder.h.
mrpt::slam::CMetricMapBuilder::CMetricMapBuilder | ( | ) |
Constructor.
virtual mrpt::slam::CMetricMapBuilder::~CMetricMapBuilder | ( | ) | [virtual] |
Destructor.
void mrpt::slam::CMetricMapBuilder::clear | ( | ) |
Clear all elements of the maps, and reset localization to (0,0,0deg).
Reimplemented in mrpt::slam::CMetricMapBuilderRBPF.
void mrpt::slam::CMetricMapBuilder::enableMapUpdating | ( | bool | enable | ) |
Enables or disables the map updating (default state is enabled).
void mrpt::slam::CMetricMapBuilder::enterCriticalSection | ( | ) | [inline, protected] |
virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap | ( | CSensFrameProbSequence & | out_map | ) | const [pure virtual] |
Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map.
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize | ( | ) | [pure virtual] |
Returns just how many sensorial frames are stored in the currently build map.
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
virtual CMultiMetricMap* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap | ( | ) | [pure virtual] |
Returns the map built so far.
NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()".
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
virtual CPose3DPDFPtr mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation | ( | ) | const [pure virtual] |
Returns a copy of the current best pose estimation as a pose PDF.
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
virtual void mrpt::slam::CMetricMapBuilder::initialize | ( | CSensFrameProbSequence & | initialMap, | |
CPosePDF * | x0 = NULL | |||
) | [pure virtual] |
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map.
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
void mrpt::slam::CMetricMapBuilder::leaveCriticalSection | ( | ) | [inline, protected] |
void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile | ( | const std::string & | fileName | ) |
Load map (CSensFrameProbSequence) from a ".simplemap" file.
virtual void mrpt::slam::CMetricMapBuilder::processActionObservation | ( | CActionCollection & | action, | |
CSensoryFrame & | observations | |||
) | [pure virtual] |
Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.
action | The estimation of the incremental pose change in the robot pose. | |
observations | The set of observations that robot senses at the new pose. |
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
virtual void mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage | ( | const std::string & | file, | |
bool | formatEMF_BMP = true | |||
) | [pure virtual] |
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
file | The output file name | |
formatEMF_BMP | Output format = true:EMF, false:BMP |
Implemented in mrpt::slam::CMetricMapBuilderICP, and mrpt::slam::CMetricMapBuilderRBPF.
void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile | ( | const std::string & | fileName, | |
bool | compressGZ = true | |||
) | const |
Save map (CSensFrameProbSequence) to a ".simplemap" file.
struct MRPTDLLIMPEXP mrpt::slam::CMetricMapBuilder::TOptions mrpt::slam::CMetricMapBuilder::options |
Options for the algorithm.
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