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95 const std::string& file,
bool formatEMF_BMP =
true) = 0;
110 const std::string& fileName,
bool compressGZ =
true)
const;
virtual const mrpt::maps::CMultiMetricMap * getCurrentlyBuiltMetricMap() const =0
Returns the map built so far.
void loadCurrentMapFromFile(const std::string &fileName)
Load map (mrpt::maps::CSimpleMap) from a ".simplemap" file.
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.
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.
TOptions(mrpt::system::VerbosityLevel &verb_level_ref)
void enableMapUpdating(bool enable)
Enables or disables the map updating (default state is enabled)
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...
~CMetricMapBuilder() override
Destructor.
VerbosityLevel
Enumeration of available verbosity levels.
void clear()
Clear all elements of the maps, and reset localization to (0,0,0deg).
This class stores any customizable set of metric maps.
virtual mrpt::poses::CPose3DPDF::Ptr getCurrentPoseEstimation() const =0
Returns a copy of the current best pose estimation as a pose PDF.
virtual void initialize(const mrpt::maps::CSimpleMap &initialMap=mrpt::maps::CSimpleMap(), const mrpt::poses::CPosePDF *x0=nullptr)=0
Initialize the method, starting with a known location PDF "x0"(if supplied, set to nullptr to left un...
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.
CMetricMapBuilder()
Constructor.
A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the...
Versatile class for consistent logging and management of output messages.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
std::mutex critZoneChangingMap
Critical zones.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
std::shared_ptr< CPose3DPDF > Ptr
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.
void saveCurrentMapToFile(const std::string &fileName, bool compressGZ=true) const
Save map (mrpt::maps::CSimpleMap) to a ".simplemap" file.
Options for the algorithm.
mrpt::rtti::CListOfClasses alwaysInsertByClass
A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in...
mrpt::system::VerbosityLevel & verbosity_level
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