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65 template <
class GRAPH_T =
typename mrpt::graphs::CNetworkOfPoses2DInf>
83 using pose_t =
typename GRAPH_T::constraint_t::type_value;
87 double, constraint_t::state_length, constraint_t::state_length>;
96 void loadParams(
const std::string& source_fname)
override;
122 const std::string& section)
override;
std::shared_ptr< CObservation > Ptr
std::string getAsString() const
Interface for implementing node registration classes.
~CFixedIntervalsNRD() override=default
std::shared_ptr< mrpt::obs ::CSensoryFrame > Ptr
void getDescriptiveReport(std::string *report_str) const override
Fill the provided string with a detailed report of the decider/optimizer state.
double registration_max_distance
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
std::shared_ptr< mrpt::obs ::CActionCollection > Ptr
mrpt::vision::TStereoCalibResults out
Parameters structure for managing the relevant to the decider variables in a compact manner.
void printParams() const override
typename GRAPH_T::constraint_t::type_value pose_t
type of underlying poses (2D/3D).
Fixed Intervals Odometry-based Node Registration.
pose_t m_last_odometry_only_pose
pose_t estimation using only odometry information.
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
pose_t m_curr_odometry_only_pose
pose_t estimation using only odometry information.
typename GRAPH_T::global_pose_t global_pose_t
This class allows loading and storing values and vectors of different types from a configuration text...
bool m_observation_only_rawlog
Keep track of whether we are reading from an observation-only rawlog file or from an action-observati...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
typename GRAPH_T::constraint_t constraint_t
type of graph constraints
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
void loadParams(const std::string &source_fname) override
Load the necessary for the decider/optimizer configuration parameters.
bool checkRegistrationCondition() override
If estimated position surpasses the registration max values since the previous registered node,...
double registration_max_angle
~TParams() override=default
bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation) override
Method makes use of the CActionCollection/CObservation to update the odometry estimation from the las...
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