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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html">CMetricMapBuilderICP</a>
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<h1>mrpt::slam::CMetricMapBuilderICP Class Reference</h1><!-- doxytag: class="mrpt::slam::CMetricMapBuilderICP" --><!-- doxytag: inherits="mrpt::slam::CMetricMapBuilder" -->
<p>A class for very simple 2D SLAM based on ICP.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">mrpt/slam/CMetricMapBuilderICP.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CMetricMapBuilderICP:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_inherit__map" id="mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_inherit__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::slam::CMetricMapBuilderICP:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_coll__map" alt="Collaboration graph"/></div>
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title="The base class for 2D points, 3D points, 2D poses and 3D poses." alt="" coords="1713,664,1895,693"/><area shape="rect" id="node84" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes." alt="" coords="1723,771,1885,800"/><area shape="rect" id="node39" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html" title="Auxiliary structure used for CObject-based RTTI." alt="" coords="1195,199,1352,228"/><area shape="rect" id="node42" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html" title="The ICP algorithm configuration data." alt="" coords="1984,547,2208,576"/><area shape="rect" id="node44" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved..." alt="" coords="1176,540,1371,569"/><area shape="rect" id="node46" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html" title="Algorithm 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title="This class stores any customizable set of metric maps." alt="" coords="2293,719,2483,748"/><area shape="rect" id="node69" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="mrpt::math::CMatrixFixedNumeric\< double, 3, 3 \>" alt="" coords="2232,772,2544,801"/><area shape="rect" id="node71" href="classmrpt_1_1math_1_1_c_array.html" title="mrpt::math::CArray\< double, NROWS *NCOLS \>" alt="" coords="1649,984,1959,1013"/><area shape="rect" id="node73" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html" title="Traveled distances from last map update / ICP-based localization." alt="" coords="2255,388,2521,417"/><area shape="rect" id="node75" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose." alt="" coords="2805,613,2960,643"/><area shape="rect" id="node77" href="classmrpt_1_1poses_1_1_c_pose.html" title="A virtual base class to represent a pose in 2D or 3D." alt="" coords="2319,640,2457,669"/><area shape="rect" id="node87" href="classmrpt_1_1utils_1_1_c_observable.html" title="Inherit from this class for those objects capable of being observed by a CObserver..." alt="" coords="1192,771,1355,800"/><area shape="rect" id="node108" href="structmrpt_1_1poses_1_1_c_robot2_d_pose_estimator_1_1_t_options.html" title="mrpt::poses::CRobot2DPoseEstimator::TOptions" alt="" coords="2235,825,2541,855"/><area shape="rect" id="node110" href="structmrpt_1_1math_1_1_t_pose2_d.html" title="Lightweight 2D pose." alt="" coords="2315,927,2461,956"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html">TConfigParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Algorithm configuration params. <a href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#_details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html">TDist</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Traveled distances from last map update / ICP-based localization. <a href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a505be777839d4f1ceb38b0d973ce1fee">CMetricMapBuilderICP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize". <a href="#a505be777839d4f1ceb38b0d973ce1fee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a75ba583bfd6ea68f9b88873967eaba97">CMetricMapBuilderICP</a> (<a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> *mapInitializers, float insertionLinDistance=1.0f, float insertionAngDistance=DEG2RAD(30), CICP::TConfigParams *icpParams=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">*DEPRECATED* Constructor with arguments - use the default constructor, then set the parameters in the "ICP_options" member. <a href="#a75ba583bfd6ea68f9b88873967eaba97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a2d1ad8aaa8c13c0c44d098b7b96cab9c">~CMetricMapBuilderICP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor:. <a href="#a2d1ad8aaa8c13c0c44d098b7b96cab9c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1106c4ff0e3af8b8ce752fe7e67530be">initialize</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &initialMap=<a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>(), <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> *x0=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. <a href="#a1106c4ff0e3af8b8ce752fe7e67530be"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">CPose3DPDFPtr </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a45620c0802954419b152685e22a10981">getCurrentPoseEstimation</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the current best pose estimation as a pose PDF. <a href="#a45620c0802954419b152685e22a10981"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a3d57d951672dd166a8725f2de263164f">setCurrentMapFile</a> (const char *mapFile)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object. <a href="#a3d57d951672dd166a8725f2de263164f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#ae59c6b2a7b0222a85e2cc2cfeca19c10">processActionObservation</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">CActionCollection</a> &action, <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. <a href="#ae59c6b2a7b0222a85e2cc2cfeca19c10"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a7abc2ee4a0adccbec65444e434abdd1b">processObservation</a> (const CObservationPtr &obs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The main method of this class: Process one odometry or sensor observation. <a href="#a7abc2ee4a0adccbec65444e434abdd1b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#ac616ad0198e3b2cd68fd75eb2795fedc">getCurrentlyBuiltMap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &out_map) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map. <a href="#ac616ad0198e3b2cd68fd75eb2795fedc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#af6cc777e933fe528216670ef5ea2edfa">getCurrentMapPoints</a> (<a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &x, <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> &y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(DEPRECATED) Returns the 2D points of current local map: This is for backward compatibility with the non-BABEL GUI, should be removed when a new GUI integrated into BABEL becomes available. <a href="#af6cc777e933fe528216670ef5ea2edfa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a64cb24ecb715b33e41712f109cb4c4ca">getCurrentlyBuiltMetricMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the map built so far. <a href="#a64cb24ecb715b33e41712f109cb4c4ca"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a9297996b2194bae02ea112e9a7256027">getCurrentlyBuiltMapSize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns just how many sensorial frames are stored in the currently build map. <a href="#a9297996b2194bae02ea112e9a7256027"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a12b97251df911adff7760d73b09e40f7">saveCurrentEstimationToImage</a> (const std::string &file, bool formatEMF_BMP=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. <a href="#a12b97251df911adff7760d73b09e40f7"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html">TConfigParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1ec3c3ee5d8409d04017e7fe441b6a54">ICP_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options for the ICP-SLAM application. <a href="#a1ec3c3ee5d8409d04017e7fe441b6a54"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a7ef2b889f11d62dc23bcdebba91b886a">ICP_params</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options for the ICP algorithm itself. <a href="#a7ef2b889f11d62dc23bcdebba91b886a"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#ac952c2ac85a91fbd3cf1568fb830b0d1">accumulateRobotDisplacementCounters</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &Apose)</td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#af8887a2bff23741cc743c4487c6c58ab">SF_Poses_seq</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The set of observations that leads to current map:. <a href="#af8887a2bff23741cc743c4487c6c58ab"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a8dde59db8d85102a55a098834ac03531">metricMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The metric map representation as a points map:. <a href="#a8dde59db8d85102a55a098834ac03531"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a807ddc044dc88e336a7c1f2c3833bd58">currentMapFile</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Current map file. <a href="#a807ddc044dc88e336a7c1f2c3833bd58"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html">mrpt::poses::CRobot2DPoseEstimator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a96c1336bafdc64cd0c240a1294ce7677">m_lastPoseEst</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The pose estimation by the alignment algorithm (ICP). <a href="#a96c1336bafdc64cd0c240a1294ce7677"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">mrpt::math::CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a29c7293ae44e3924c35985f8a6772379">m_lastPoseEst_cov</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Last pose estimation (covariance). <a href="#a29c7293ae44e3924c35985f8a6772379"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::deque< <a class="el" href="structmrpt_1_1math_1_1_t_pose2_d.html">mrpt::math::TPose2D</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a541d8d5d4eb812b4f42950464c029f4c">m_estRobotPath</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The estimated robot path:. <a href="#a541d8d5d4eb812b4f42950464c029f4c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#add9b23983fc7ebb6bb25db5254ef276b">m_auxAccumOdometry</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html">TDist</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a4fa7dbf950beced774e7fb85c014c145">m_distSinceLastICP</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::map< std::string, <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html">TDist</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a2b12af4396642f176df57972cdbf1f70">m_distSinceLastInsertion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Indexed by sensor label. <a href="#a2b12af4396642f176df57972cdbf1f70"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a3348f38548e25010c6bce0b454405790">m_there_has_been_an_odometry</a></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A class for very simple 2D SLAM based on ICP. </p>
<p>This is a non-probabilistic pose tracking algorithm. Map are stored as in files as binary dumps of "mrpt::slam::CSimpleMap" objects. The methods are thread-safe. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00046">46</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a505be777839d4f1ceb38b0d973ce1fee"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP" ref="a505be777839d4f1ceb38b0d973ce1fee" args="()" -->
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<p>Default constructor - Upon construction, you can set the parameters in ICP_options, then call "initialize". </p>
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<a class="anchor" id="a75ba583bfd6ea68f9b88873967eaba97"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP" ref="a75ba583bfd6ea68f9b88873967eaba97" args="(TSetOfMetricMapInitializers *mapInitializers, float insertionLinDistance=1.0f, float insertionAngDistance=DEG2RAD(30), CICP::TConfigParams *icpParams=NULL)" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> * </td>
<td class="paramname"> <em>mapInitializers</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramtype">float </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> * </td>
<td class="paramname"> <em>icpParams</em> = <code>NULL</code></td><td> </td>
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<p>*DEPRECATED* Constructor with arguments - use the default constructor, then set the parameters in the "ICP_options" member. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>mapInitializers</em> </td><td>What maps to create (at least one points map and/or a grid map are needed). </td></tr>
<tr><td valign="top"></td><td valign="top"><em>insertionLinDistance</em> </td><td>Minimum robot linear displacement for a new observation to be inserted in the map. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>insertionAngDistance</em> </td><td>Minimum robot angular displacement for a new observation to be inserted in the map. </td></tr>
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<a class="anchor" id="a2d1ad8aaa8c13c0c44d098b7b96cab9c"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP" ref="a2d1ad8aaa8c13c0c44d098b7b96cab9c" args="()" -->
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<td class="memname">virtual mrpt::slam::CMetricMapBuilderICP::~CMetricMapBuilderICP </td>
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<p>Destructor:. </p>
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<hr/><h2>Member Function Documentation</h2>
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<td class="memname">void mrpt::slam::CMetricMapBuilderICP::accumulateRobotDisplacementCounters </td>
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<td class="paramname"> <em>Apose</em></td>
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<td><code> [private]</code></td>
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<a class="anchor" id="ac616ad0198e3b2cd68fd75eb2795fedc"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMap" ref="ac616ad0198e3b2cd68fd75eb2795fedc" args="(CSimpleMap &out_map) const " -->
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<td class="memname">void mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMap </td>
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<p>Fills "out_map" with the set of "poses"-"sensorial frames", thus the so far built map. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#accb35416b8bf85da803b83e99bad02db">mrpt::slam::CMetricMapBuilder</a>.</p>
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<a class="anchor" id="a9297996b2194bae02ea112e9a7256027"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize" ref="a9297996b2194bae02ea112e9a7256027" args="()" -->
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<p>Returns just how many sensorial frames are stored in the currently build map. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#afdea305bbb77c9ead1e909150c4875dc">mrpt::slam::CMetricMapBuilder</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a>* mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMetricMap </td>
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<p>Returns the map built so far. </p>
<p>NOTE that for efficiency a pointer to the internal object is passed, DO NOT delete nor modify the object in any way, if desired, make a copy of ir with "duplicate()". </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a3a6c22213142511cde0f076587f21c7f">mrpt::slam::CMetricMapBuilder</a>.</p>
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<a class="anchor" id="af6cc777e933fe528216670ef5ea2edfa"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::getCurrentMapPoints" ref="af6cc777e933fe528216670ef5ea2edfa" args="(vector_float &x, vector_float &y)" -->
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<p>(DEPRECATED) Returns the 2D points of current local map: This is for backward compatibility with the non-BABEL GUI, should be removed when a new GUI integrated into BABEL becomes available. </p>
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<p>Returns a copy of the current best pose estimation as a pose PDF. </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db935488eb11d47ac17dff0cd2ba091">mrpt::slam::CMetricMapBuilder</a>.</p>
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<p>Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. </p>
<p>This method MUST be called if using the default constructor, after loading the configuration into ICP_options. In particular, <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a1e858d31f52331e1e85de46938feecf4" title="What maps to create (at least one points map and/or a grid map are needed).">TConfigParams::mapInitializers</a> </p>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a05ab1ad7345695e3b050c79ddfb44111">mrpt::slam::CMetricMapBuilder</a>.</p>
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<p>Appends a new action and observations to update this map: See the description of the class at the top of this page to see a more complete description. </p>
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<tr><td valign="top"></td><td valign="top"><em>action</em> </td><td>The estimation of the incremental pose change in the robot pose. </td></tr>
<tr><td valign="top"></td><td valign="top"><em>in_SF</em> </td><td>The set of observations that robot senses at the new pose. See params in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#aa3898542e7a401f42726585f3342f26e" title="Options for the algorithm.">CMetricMapBuilder::options</a> and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1ec3c3ee5d8409d04017e7fe441b6a54" title="Options for the ICP-SLAM application.">CMetricMapBuilderICP::ICP_options</a> </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a7abc2ee4a0adccbec65444e434abdd1b" title="The main method of this class: Process one odometry or sensor observation.">processObservation</a> </dd></dl>
<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8f54b3526d92e6229b95fdb794083355">mrpt::slam::CMetricMapBuilder</a>.</p>
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<p>The main method of this class: Process one odometry or sensor observation. </p>
<p>The new entry point of the algorithm (the old one was processActionObservation, which now is a wrapper to this method). See params in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#aa3898542e7a401f42726585f3342f26e" title="Options for the algorithm.">CMetricMapBuilder::options</a> and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1ec3c3ee5d8409d04017e7fe441b6a54" title="Options for the ICP-SLAM application.">CMetricMapBuilderICP::ICP_options</a> </p>
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<td class="memname">void mrpt::slam::CMetricMapBuilderICP::saveCurrentEstimationToImage </td>
<td>(</td>
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<p>A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>file</em> </td><td>The output file name </td></tr>
<tr><td valign="top"></td><td valign="top"><em>formatEMF_BMP</em> </td><td>Output format = true:EMF, false:BMP </td></tr>
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<p>Implements <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#ad6ed4fe0eb73c5dab4b265f2a55da84d">mrpt::slam::CMetricMapBuilder</a>.</p>
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<td class="memname">void mrpt::slam::CMetricMapBuilderICP::setCurrentMapFile </td>
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<p>Sets the "current map file", thus that map will be loaded if it exists or a new one will be created if it does not, and the updated map will be save to that file when destroying the object. </p>
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<hr/><h2>Member Data Documentation</h2>
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<td class="memname">std::string <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a807ddc044dc88e336a7c1f2c3833bd58">mrpt::slam::CMetricMapBuilderICP::currentMapFile</a><code> [private]</code></td>
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<p>Current map file. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00169">169</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a1ec3c3ee5d8409d04017e7fe441b6a54"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::ICP_options" ref="a1ec3c3ee5d8409d04017e7fe441b6a54" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html">TConfigParams</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1ec3c3ee5d8409d04017e7fe441b6a54">mrpt::slam::CMetricMapBuilderICP::ICP_options</a></td>
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<p>Options for the ICP-SLAM application. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a7ef2b889f11d62dc23bcdebba91b886a" title="Options for the ICP algorithm itself.">ICP_params</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00097">97</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a7ef2b889f11d62dc23bcdebba91b886a"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::ICP_params" ref="a7ef2b889f11d62dc23bcdebba91b886a" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a7ef2b889f11d62dc23bcdebba91b886a">mrpt::slam::CMetricMapBuilderICP::ICP_params</a></td>
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<p>Options for the ICP algorithm itself. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1ec3c3ee5d8409d04017e7fe441b6a54" title="Options for the ICP-SLAM application.">ICP_options</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00098">98</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="add9b23983fc7ebb6bb25db5254ef276b"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_auxAccumOdometry" ref="add9b23983fc7ebb6bb25db5254ef276b" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">mrpt::poses::CPose2D</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#add9b23983fc7ebb6bb25db5254ef276b">mrpt::slam::CMetricMapBuilderICP::m_auxAccumOdometry</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00179">179</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a4fa7dbf950beced774e7fb85c014c145"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_distSinceLastICP" ref="a4fa7dbf950beced774e7fb85c014c145" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html">TDist</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a4fa7dbf950beced774e7fb85c014c145">mrpt::slam::CMetricMapBuilderICP::m_distSinceLastICP</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00188">188</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a2b12af4396642f176df57972cdbf1f70"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_distSinceLastInsertion" ref="a2b12af4396642f176df57972cdbf1f70" args="" -->
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<td class="memname">std::map<std::string,<a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_dist.html">TDist</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a2b12af4396642f176df57972cdbf1f70">mrpt::slam::CMetricMapBuilderICP::m_distSinceLastInsertion</a><code> [private]</code></td>
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<p>Indexed by sensor label. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00189">189</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a541d8d5d4eb812b4f42950464c029f4c"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_estRobotPath" ref="a541d8d5d4eb812b4f42950464c029f4c" args="" -->
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<td class="memname">std::deque<<a class="el" href="structmrpt_1_1math_1_1_t_pose2_d.html">mrpt::math::TPose2D</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a541d8d5d4eb812b4f42950464c029f4c">mrpt::slam::CMetricMapBuilderICP::m_estRobotPath</a><code> [private]</code></td>
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<p>The estimated robot path:. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00178">178</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a96c1336bafdc64cd0c240a1294ce7677"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst" ref="a96c1336bafdc64cd0c240a1294ce7677" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_robot2_d_pose_estimator.html">mrpt::poses::CRobot2DPoseEstimator</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a96c1336bafdc64cd0c240a1294ce7677">mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst</a><code> [private]</code></td>
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<p>The pose estimation by the alignment algorithm (ICP). </p>
<p>Last pose estimation (Mean) </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00173">173</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a29c7293ae44e3924c35985f8a6772379"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_lastPoseEst_cov" ref="a29c7293ae44e3924c35985f8a6772379" args="" -->
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<p>Last pose estimation (covariance). </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00174">174</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a3348f38548e25010c6bce0b454405790"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::m_there_has_been_an_odometry" ref="a3348f38548e25010c6bce0b454405790" args="" -->
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<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00190">190</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a8dde59db8d85102a55a098834ac03531"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::metricMap" ref="a8dde59db8d85102a55a098834ac03531" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a8dde59db8d85102a55a098834ac03531">mrpt::slam::CMetricMapBuilderICP::metricMap</a><code> [private]</code></td>
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<p>The metric map representation as a points map:. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00165">165</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="af8887a2bff23741cc743c4487c6c58ab"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::SF_Poses_seq" ref="af8887a2bff23741cc743c4487c6c58ab" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#af8887a2bff23741cc743c4487c6c58ab">mrpt::slam::CMetricMapBuilderICP::SF_Poses_seq</a><code> [private]</code></td>
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<p>The set of observations that leads to current map:. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00161">161</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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