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<div class="title">CMetricMapBuilder.h</div> </div>
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<a href="_c_metric_map_builder_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CMetricMapBuilder_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CMetricMapBuilder_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_list_of_classes_8h.html">mrpt/utils/CListOfClasses.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="synch_8h.html">mrpt/synch.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_multi_metric_map_8h.html">mrpt/slam/CMultiMetricMap.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_sensory_frame_8h.html">mrpt/slam/CSensoryFrame.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_simple_map_8h.html">mrpt/slam/CSimpleMap.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_action_collection_8h.html">mrpt/slam/CActionCollection.h</a>></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="preprocessor">#include <<a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html">mrpt/slam/link_pragmas.h</a>></span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>mrpt
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">namespace </span>slam
<a name="l00046"></a>00046 {<span class="comment"></span>
<a name="l00047"></a>00047 <span class="comment"> /** @defgroup metric_slam_grp Metric SLAM algorithms</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup mrpt_slam_grp */</span>
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"> /** This virtual class is the base for SLAM implementations. See derived classes for more information.</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * \sa CMetricMap \ingroup metric_slam_grp</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a>00054 <span class="keyword">class </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> CMetricMapBuilder : <span class="keyword">public</span> mrpt::utils::CDebugOutputCapable
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Critical zones</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a2effa8714a43d5bdfd27b0e9fee09cb3">00059</a> synch::CCriticalSection <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a2effa8714a43d5bdfd27b0e9fee09cb3" title="Critical zones.">critZoneChangingMap</a>;
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Enter critical section for map updating:</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#ade4637e621a9a02380ba877fc7e20f2a">00063</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#ade4637e621a9a02380ba877fc7e20f2a" title="Enter critical section for map updating:">enterCriticalSection</a>() { critZoneChangingMap.enter(); }
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Leave critical section for map updating:</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a02e4f68550a98bc5a2acea71ee9268d9">00067</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a02e4f68550a98bc5a2acea71ee9268d9" title="Leave critical section for map updating:">leaveCriticalSection</a>() { critZoneChangingMap.leave(); }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keyword">public</span>:
<a name="l00070"></a>00070 <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html" title="This virtual class is the base for SLAM implementations.">CMetricMapBuilder</a>(); <span class="comment">//!< Constructor</span>
<a name="l00071"></a>00071 <span class="comment"></span> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html" title="This virtual class is the base for SLAM implementations.">CMetricMapBuilder</a>( ); <span class="comment">//!< Destructor.</span>
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment">// ---------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** @name Pure virtual methods to implement in any particular SLAM algorithm</span>
<a name="l00075"></a>00075 <span class="comment"> @{ */</span>
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Initialize the method, starting with a known location PDF "x0"(if supplied, set to NULL to left unmodified) and a given fixed, past map. */</span>
<a name="l00078"></a>00078 <span class="keyword">virtual</span> <span class="keywordtype">void</span> initialize(
<a name="l00079"></a>00079 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> &initialMap = <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a>(),
<a name="l00080"></a>00080 <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> *x0 = NULL
<a name="l00081"></a>00081 ) = 0;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Returns a copy of the current best pose estimation as a pose PDF. */</span>
<a name="l00084"></a>00084 <span class="keyword">virtual</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> getCurrentPoseEstimation() <span class="keyword">const</span> = 0;
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Process a new action and observations pair to update this map: See the description of the class at the top of this page to see a more complete description.</span>
<a name="l00087"></a>00087 <span class="comment"> * \param action The estimation of the incremental pose change in the robot pose.</span>
<a name="l00088"></a>00088 <span class="comment"> * \param observations The set of observations that robot senses at the new pose.</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a>00090 <span class="keyword">virtual</span> <span class="keywordtype">void</span> processActionObservation( <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a> &action,<a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &observations ) = 0;
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. */</span>
<a name="l00093"></a>00093 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getCurrentlyBuiltMap(<a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...">CSimpleMap</a> &out_map) <span class="keyword">const</span> = 0;
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Returns just how many sensory-frames are stored in the currently build map. */</span>
<a name="l00096"></a>00096 <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getCurrentlyBuiltMapSize() = 0;
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Returns the map built so far. 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()". */</span>
<a name="l00099"></a>00099 <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">CMultiMetricMap</a>* getCurrentlyBuiltMetricMap() = 0;
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** A useful method for debugging: the current map (and/or poses) estimation is dumped to an image file.</span>
<a name="l00102"></a>00102 <span class="comment"> * \param file The output file name</span>
<a name="l00103"></a>00103 <span class="comment"> * \param formatEMF_BMP Output format = true:EMF, false:BMP</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keyword">virtual</span> <span class="keywordtype">void</span> saveCurrentEstimationToImage(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file, <span class="keywordtype">bool</span> formatEMF_BMP = <span class="keyword">true</span>) = 0;
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** @} */</span>
<a name="l00108"></a>00108 <span class="comment">// ---------------------------------------------------------------------</span>
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** Clear all elements of the maps, and reset localization to (0,0,0deg). */</span>
<a name="l00111"></a>00111 <span class="keywordtype">void</span> clear();
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Enables or disables the map updating (default state is enabled) */</span>
<a name="l00114"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#ac9982ebd2fcc745ecd760f4c982427a4">00114</a> <span class="keywordtype">void</span> enableMapUpdating( <span class="keywordtype">bool</span> enable )
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116 options.enableMapUpdating = enable;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Load map (mrpt::slam::CSimpleMap) from a ".simplemap" file */</span>
<a name="l00120"></a>00120 <span class="keywordtype">void</span> loadCurrentMapFromFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fileName);
<a name="l00121"></a>00121 <span class="comment"></span>
<a name="l00122"></a>00122 <span class="comment"> /** Save map (mrpt::slam::CSimpleMap) to a ".simplemap" file. */</span>
<a name="l00123"></a>00123 <span class="keywordtype">void</span> saveCurrentMapToFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fileName, <span class="keywordtype">bool</span> compressGZ=<span class="keyword">true</span>) <span class="keyword">const</span>;
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Options for the algorithm */</span>
<a name="l00126"></a>00126 <span class="keyword">struct </span><a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> TOptions
<a name="l00127"></a>00127 {
<a name="l00128"></a><a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a91fc86a65cc675fc1101af511d44b8b0">00128</a> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html" title="Options for the algorithm.">TOptions</a>() : verbose(true),
<a name="l00129"></a>00129 enableMapUpdating(true),
<a name="l00130"></a>00130 debugForceInsertion(false),
<a name="l00131"></a>00131 alwaysInsertByClass()
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00135"></a><a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a453371ba7c8bfc6989c3fea9ac4b2c1d">00135</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a453371ba7c8bfc6989c3fea9ac4b2c1d" title="If true shows debug information in the console, default is true.">verbose</a>; <span class="comment">//!< If true shows debug information in the console, default is true.</span>
<a name="l00136"></a><a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#ad0e8d5bf974e0c80f26565d462926497">00136</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#ad0e8d5bf974e0c80f26565d462926497" title="Enable map updating, default is true.">enableMapUpdating</a>; <span class="comment">//!< Enable map updating, default is true.</span>
<a name="l00137"></a><a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#ad6b66d26fa3c94826505064a28b3fb1c">00137</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#ad6b66d26fa3c94826505064a28b3fb1c" title="Always insert into map. Default is false: detect if necesary.">debugForceInsertion</a>; <span class="comment">//!< Always insert into map. Default is false: detect if necesary.</span>
<a name="l00138"></a>00138 <span class="comment"></span><span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** A list of observation classes (derived from mrpt::slam::CObservation) which will be always inserted in the map, disregarding the minimum insertion distances).</span>
<a name="l00140"></a>00140 <span class="comment"> * Default: Empty. How to insert classes:</span>
<a name="l00141"></a>00141 <span class="comment"> * \code</span>
<a name="l00142"></a>00142 <span class="comment"> * alwaysInserByClass.insert(CLASS_ID(CObservationImage));</span>
<a name="l00143"></a>00143 <span class="comment"> * \endcode</span>
<a name="l00144"></a>00144 <span class="comment"> * \sa mrpt::utils::CListOfClasses</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a><a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a9f88daece48938d630075a69473fb43c">00146</a> mrpt<a class="code" href="classmrpt_1_1utils_1_1_c_list_of_classes.html" title="A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the...">::utils::CListOfClasses</a> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a9f88daece48938d630075a69473fb43c" title="A list of observation classes (derived from mrpt::slam::CObservation) which will be always inserted i...">alwaysInsertByClass</a>;
<a name="l00147"></a>00147
<a name="l00148"></a>00148 };
<a name="l00149"></a>00149
<a name="l00150"></a><a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db543d082103e5300415d4139d9255a">00150</a> <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html" title="Options for the algorithm.">TOptions</a> <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db543d082103e5300415d4139d9255a">options</a>;
<a name="l00151"></a>00151
<a name="l00152"></a>00152 }; <span class="comment">// End of class def.</span>
<a name="l00153"></a>00153
<a name="l00154"></a>00154 } <span class="comment">// End of namespace</span>
<a name="l00155"></a>00155 } <span class="comment">// End of namespace</span>
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="preprocessor">#endif</span>
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