Go to the documentation of this file.
108 const std::string& label,
const THypothesisID& hypothesisID)
const;
150 float uncertaintyExagerationFactor = 1.0f,
bool drawArcs =
false,
151 unsigned int numberOfIterationsForOptimalGlobalPoses = 4)
const;
163 const std::string& filName,
const THypothesisID& hypothesisID,
174 TArcList& out_path,
bool direction =
false)
const;
186 const THypothesisID& hypothesisID,
unsigned int particlesCount = 100,
187 float additionalNoiseXYratio = 0.02,
201 unsigned int monteCarloSamplesPose = 300);
214 const std::string& arcType,
TArcList& ret)
const;
223 const std::string& arcType,
bool& isInverted)
const;
230 const char* requiredAnnotation =
nullptr)
const;
242 std::map<CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian>&
246 const unsigned int& numberOfIterations = 2)
const;
256 const unsigned int& numberOfIterationsForOptimalGlobalPoses = 5,
257 bool showRobotPoseIDs =
true)
const;
260 void dumpAsText(std::vector<std::string>& s)
const;
273 size_t monteCarloSamples = 100,
274 const float margin_to_substract = 6)
const;
size_t nodeCount() const
Returns the number of nodes in the partition:
Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose .
iterator end()
Returns an iterator to the end of the list of nodes in the graph.
iterator begin()
Returns an iterator to the first node in the graph.
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
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.
This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives.
std::vector< CHMHMapNode::TNodeID > TNodeIDsList
A type that reprensents a sequence of node IDs.
const_iterator begin() const
Returns an iterator to the first node in the graph.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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,...
void dumpAsText(std::vector< std::string > &s) const
Return a textual description of the whole graph.
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.
CHMHMapArc::Ptr 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...
double computeOverlapProbabilityBetweenNodes(const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, 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.
TNodeList::iterator iterator
CHMHMapNode::Ptr getNodeByID(CHMHMapNode::TNodeID id)
Returns the node with the given ID, or nullptr if it does not exist.
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:
bool areNodesNeightbour(const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=nullptr) const
Returns whether two nodes are "neightbour", i.e.
mrpt::graphs::TNodeID TNodeID
The type of the IDs of nodes.
const_iterator end() const
Returns an iterator to the end of the list of nodes in the graph.
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:
TNodeList m_nodes
The internal list of nodes and arcs in the whole hierarchical model.
std::map< CHMHMapNode::TNodeID, std::shared_ptr< CHMHMapNode > > TNodeList
A map between node IDs and nodes (used in HMT-SLAM).
void getAs3DScene(mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, bool showRobotPoseIDs=true) const
Returns a 3D scene reconstruction of the hierarchical map.
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
CHMHMapNode::Ptr getNodeByLabel(const std::string &label, const THypothesisID &hypothesisID)
Returns the node with the given label (case insensitive) for some given hypothesis ID,...
constexpr double DEG2RAD(const double x)
Degrees to radians
Versatile class for consistent logging and management of output messages.
size_t arcCount() const
Returns the number of arcs in the partition:
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 gri...
A class for storing a sequence of arcs (a path).
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
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...
std::shared_ptr< mrpt::hmtslam ::CHMHMapArc > Ptr
TNodeList::const_iterator const_iterator
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::DEG2RAD(0.1)) const
Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Ar...
void computeGloballyConsistentNodeCoordinates(std::map< 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 al...
CHMHMapNode::Ptr getFirstNode()
Returns the first node in the graph, or nullptr if it does not exist.
CHierarchicalMapMHPartition()
Represents a set of nodes and arcs, posibly only a part of the whole hierarchical,...
Page generated by Doxygen 1.8.17 for MRPT 2.0.3 at Fri May 29 13:06:46 UTC 2020 | |