The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
This class is used within the HMT-SLAM implementation in CHMTSLAM.
Definition at line 31 of file CHierarchicalMHMap.h.
#include <mrpt/hmtslam/CHierarchicalMHMap.h>
Public Types | |
typedef TNodeList::iterator | iterator |
typedef TNodeList::const_iterator | const_iterator |
typedef std::vector< CHMHMapNode::TNodeID > | TNodeIDsList |
A type that reprensents a sequence of node IDs. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CHierarchicalMHMap () | |
Default constructor. More... | |
void | dumpAsXMLfile (std::string fileName) const |
Destructor. More... | |
void | loadFromXMLfile (std::string fileName) |
Load a graph from a XML file. More... | |
virtual | ~CHierarchicalMHMap () |
void | clear () |
Erase all the contents of map (It delete all nodes/arcs objects) More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
const_iterator | begin () const |
Returns an iterator to the first node in the graph. More... | |
iterator | begin () |
Returns an iterator to the first node in the graph. More... | |
const_iterator | end () const |
Returns an iterator to the end of the list of nodes in the graph. More... | |
iterator | end () |
Returns an iterator to the end of the list of nodes in the graph. More... | |
size_t | nodeCount () const |
Returns the number of nodes in the partition: More... | |
size_t | arcCount () const |
Returns the number of arcs in the partition: More... | |
CHMHMapNodePtr | getFirstNode () |
Returns the first node in the graph, or NULL if it does not exist. More... | |
CHMHMapNodePtr | getNodeByID (CHMHMapNode::TNodeID id) |
Returns the node with the given ID, or NULL if it does not exist. More... | |
const CHMHMapNodePtr | getNodeByID (CHMHMapNode::TNodeID id) const |
Returns the node with the given ID, or NULL if it does not exist. More... | |
CHMHMapNodePtr | getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) |
Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. More... | |
const CHMHMapNodePtr | getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const |
Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. More... | |
void | saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const |
Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) More... | |
void | saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const |
Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. More... | |
void | saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const |
Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: More... | |
void | findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const |
The Dijkstra algorithm for finding the shortest path between a pair of nodes. More... | |
void | computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, mrpt::poses::CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=mrpt::utils::DEG2RAD(0.1)) const |
Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. More... | |
float | computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, mrpt::poses::CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300) |
Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". More... | |
void | findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const |
Returns all the arcs between a pair of nodes: More... | |
void | findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const |
Returns the arcs between a pair of nodes of a given type. More... | |
CHMHMapArcPtr | findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const |
Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. More... | |
bool | areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=NULL) const |
Returns whether two nodes are "neightbour", i.e. More... | |
void | computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian > > > &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const |
This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. More... | |
void | getAs3DScene (mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const |
Returns a 3D scene reconstruction of the hierarchical map. More... | |
void | dumpAsText (utils::CStringList &s) const |
Return a textual description of the whole graph. More... | |
double | computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const |
Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
void | onNodeAddition (CHMHMapNodePtr &node) |
Event handler to be called just after a node has being created: it will be added to the internal list. More... | |
void | onArcAddition (CHMHMapArcPtr &arc) |
Event handler to be called just after an arc has being created: it will be added to the internal list. More... | |
void | onNodeDestruction (CHMHMapNode *node) |
Event handler to be called just before a node is being destroyed: it will be removed from the internal list. More... | |
void | onArcDestruction (CHMHMapArc *arc) |
Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Protected Attributes | |
TNodeList | m_nodes |
The internal list of nodes and arcs in the whole hierarchical model. More... | |
TArcList | m_arcs |
Friends | |
class | CHMHMapArc |
class | CHMHMapNode |
RTTI stuff <br> | |
typedef CHierarchicalMHMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CHierarchicalMHMap |
static mrpt::utils::TRuntimeClassId | classCHierarchicalMHMap |
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. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CHierarchicalMHMapPtr | Create () |
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inherited |
Definition at line 46 of file CHierarchicalMapMHPartition.h.
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Definition at line 45 of file CHierarchicalMapMHPartition.h.
typedef CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::SmartPtr |
A typedef for the associated smart pointer
Definition at line 37 of file CHierarchicalMHMap.h.
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inherited |
A type that reprensents a sequence of node IDs.
Definition at line 66 of file CHierarchicalMapMHPartition.h.
mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap | ( | ) |
Default constructor.
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staticprotected |
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Returns the number of arcs in the partition:
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Returns whether two nodes are "neightbour", i.e.
have a direct arc between them
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inlineinherited |
Returns an iterator to the first node in the graph.
Definition at line 52 of file CHierarchicalMapMHPartition.h.
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inlineinherited |
Returns an iterator to the first node in the graph.
Definition at line 49 of file CHierarchicalMapMHPartition.h.
void mrpt::hmtslam::CHierarchicalMHMap::clear | ( | ) |
Erase all the contents of map (It delete all nodes/arcs objects)
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inlineinherited |
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Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.
std::exception | If there is not enought information in arcs to compute the PDF |
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inherited |
This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.
Global coordinates will be computed relative to the node "idReferenceNode".
std::exception | If there is any node without a pose arc, invalid (non invertible) matrixes, etc... |
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inherited |
Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".
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inherited |
Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.
std::exception | If there is not enought information in arcs, etc... |
margin_to_substract | In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps. |
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Return a textual description of the whole graph.
void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile | ( | std::string | fileName | ) | const |
Destructor.
Save the whole graph as a XML file
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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Returns an iterator to the end of the list of nodes in the graph.
Definition at line 58 of file CHierarchicalMapMHPartition.h.
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Returns an iterator to the end of the list of nodes in the graph.
Definition at line 55 of file CHierarchicalMapMHPartition.h.
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Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.
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Returns all the arcs between a pair of nodes:
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Returns the arcs between a pair of nodes of a given type.
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The Dijkstra algorithm for finding the shortest path between a pair of nodes.
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Returns a 3D scene reconstruction of the hierarchical map.
See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"
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Returns the first node in the graph, or NULL if it does not exist.
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Returns the node with the given ID, or NULL if it does not exist.
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Returns the node with the given ID, or NULL if it does not exist.
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Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.
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Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile | ( | std::string | fileName | ) |
Load a graph from a XML file.
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Returns the number of nodes in the partition:
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Event handler to be called just after an arc has being created: it will be added to the internal list.
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Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.
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Event handler to be called just after a node has being created: it will be added to the internal list.
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protected |
Event handler to be called just before a node is being destroyed: it will be removed from the internal list.
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inline |
Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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inlinestatic |
Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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inherited |
Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)
Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
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inherited |
Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.
ADDITIONAL NOTES:
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inherited |
Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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Definition at line 33 of file CHierarchicalMHMap.h.
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Definition at line 34 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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staticinherited |
Definition at line 42 of file CSerializable.h.
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Definition at line 37 of file CHierarchicalMHMap.h.
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Definition at line 41 of file CHierarchicalMapMHPartition.h.
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The internal list of nodes and arcs in the whole hierarchical model.
The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.
Definition at line 40 of file CHierarchicalMapMHPartition.h.
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