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9 #ifndef CMetricMapBuilder_H
10 #define CMetricMapBuilder_H
97 options.enableMapUpdating = enable;
110 enableMapUpdating(true),
111 debugForceInsertion(false),
112 alwaysInsertByClass()
This base class provides a common printf-like method to send debug information to std::cout,...
bool verbose
If true shows debug information in the console, default is true.
A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the...
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.
bool debugForceInsertion
Always insert into map. Default is false: detect if necesary.
void leaveCriticalSection()
Leave critical section for map updating:
Declares a class for storing a collection of robot actions.
bool enableMapUpdating
Enable map updating, default is true.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void enableMapUpdating(bool enable)
Enables or disables the map updating (default state is enabled)
virtual mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap()=0
Returns the map built so far.
void enterCriticalSection()
Enter critical section for map updating:
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
This class provides simple critical sections functionality.
This class stores any customizable set of metric maps.
virtual mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation() const =0
Returns a copy of the current best pose estimation as a pose PDF.
virtual void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap &out_map) const =0
Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
void saveCurrentMapToFile(const std::string &fileName, bool compressGZ=true) const
Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void loadCurrentMapFromFile(const std::string &fileName)
Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.
virtual void initialize(const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL)=0
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmod...
void clear()
Clear all elements of the maps, and reset localization to (0,0,0deg).
CMetricMapBuilder()
Constructor.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
mrpt::utils::CListOfClasses alwaysInsertByClass
A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in...
virtual ~CMetricMapBuilder()
Destructor.
virtual void processActionObservation(mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &observations)=0
Process a new action and observations pair to update this map: See the description of the class at th...
This virtual class is the base for SLAM implementations.
virtual unsigned int getCurrentlyBuiltMapSize()=0
Returns just how many sensory-frames are stored in the currently build map.
Options for the algorithm.
synch::CCriticalSection critZoneChangingMap
Critical zones.
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