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9 #ifndef CMetricMapBuilderICP_H
10 #define CMetricMapBuilderICP_H
mrpt::maps::CSimpleMap SF_Poses_seq
The set of observations that leads to current map:
void processActionObservation(mrpt::obs::CActionCollection &action, mrpt::obs::CSensoryFrame &in_SF)
Appends a new action and observations to update this map: See the description of the class at the top...
mrpt::maps::TSetOfMetricMapInitializers mapInitializers
What maps to create (at least one points map and/or a grid map are needed).
CMetricMapBuilderICP()
Default constructor - Upon construction, you can set the parameters in ICP_options,...
bool m_there_has_been_an_odometry
void getCurrentMapPoints(std::vector< float > &x, std::vector< float > &y)
Returns the 2D points of current local map.
The ICP algorithm configuration data.
mrpt::math::CMatrixDouble33 m_lastPoseEst_cov
Last pose estimation (covariance)
CICP::TConfigParams ICP_params
Options for the ICP algorithm itself.
void processObservation(const mrpt::obs::CObservationPtr &obs)
The main method of this class: Process one odometry or sensor observation.
A class for very simple 2D SLAM based on ICP.
mrpt::poses::CRobot2DPoseEstimator m_lastPoseEst
The pose estimation by the alignment algorithm (ICP).
void setCurrentMapFile(const char *mapFile)
Sets the "current map file", thus that map will be loaded if it exists or a new one will be created i...
std::string currentMapFile
Current map file.
virtual ~CMetricMapBuilderICP()
Destructor:
Declares a class for storing a collection of robot actions.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool matchAgainstTheGrid
(default:false) Match against the occupancy grid or the points map? The former is quicker but less pr...
void resetRobotDisplacementCounters(const mrpt::poses::CPose2D &new_pose)
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
std::deque< mrpt::math::TPose2D > m_estRobotPath
The estimated robot path:
void saveCurrentEstimationToImage(const std::string &file, bool formatEMF_BMP=true)
A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.
void updatePose(const mrpt::poses::CPose2D &p)
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
double minICPgoodnessToAccept
Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0....
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
A class used to store a 2D pose.
This class stores any customizable set of metric maps.
void updateDistances(const mrpt::poses::CPose2D &p)
Traveled distances from last map update / ICP-based localization.
mrpt::aligned_containers< std::string, TDist >::map_t m_distSinceLastInsertion
Indexed by sensor label.
A numeric matrix of compile-time fixed size.
unsigned int getCurrentlyBuiltMapSize()
Returns just how many sensory-frames are stored in the currently build map.
double insertionLinDistance
Minimum robot linear (m) displacement for a new observation to be inserted in the map.
void initialize(const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), mrpt::poses::CPosePDF *x0=NULL)
Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmod...
A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry an...
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
TConfigParams()
Initializer.
void accumulateRobotDisplacementCounters(const mrpt::poses::CPose2D &new_pose)
void getCurrentlyBuiltMap(mrpt::maps::CSimpleMap &out_map) const
Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map.
mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap()
Returns the map built so far.
mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation() const
Returns a copy of the current best pose estimation as a pose PDF.
double localizationLinDistance
Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (...
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Algorithm configuration params.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
mrpt::poses::CPose2D m_auxAccumOdometry
mrpt::maps::CMultiMetricMap metricMap
The metric map representation as a points map:
double insertionAngDistance
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be i...
TConfigParams ICP_options
Options for the ICP-SLAM application.
This virtual class is the base for SLAM implementations.
mrpt::poses::CPose2D last_update
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
double localizationAngDistance
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be u...
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