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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html">CConsistentObservationAlignment</a> </li>
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<div class="title">mrpt::slam::CConsistentObservationAlignment Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CConsistentObservationAlignment" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>An algorithm for globally, consistent alignment of a sequence of observations. </p>
<p>This algorithm is based on the work of Lu & Milios [Globally Consistent Range Scan Alignment for Environment Mapping, 1997] for a global optimal estimation of laser range scan poses, but in this case it has been extended to include any type of observations as long as points-map-like operators are implemented over them. <br/>
<b>This class work in the following way:</b><br/>
The input is a set of observations with associated "global" poses. This is supplied with a "CSimpleMap" object, but the probabilistic poses are ignored since only the mean values for the pose of each node are taken.<br/>
After invoking the algorithm with <a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#ae84b3d3482c89b7184c579fe14461d16" title="Executes the algorithm.">CConsistentObservationAlignment::execute()</a>, a new "CSimpleMap" object is returned, where the NOTE: The first node on the input map is used as reference and therefore its pose is the only one which will never change.</p>
<dl class="note"><dt><b>Note:</b></dt><dd>This class is superseded by more modern implementations of graph-slam. See <a class="el" href="namespacemrpt_1_1graphslam.html" title="SLAM methods related to graphs of pose constraints.">mrpt::graphslam</a></dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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>, CPosePDF, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout...">utils::CDebugOutputCapable</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_consistent_observation_alignment_8h_source.html">mrpt/slam/CConsistentObservationAlignment.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CConsistentObservationAlignment:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_consistent_observation_alignment__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_consistent_observation_alignment_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment-members.html">List of all members.</a></p>
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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_consistent_observation_alignment_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The options for the method. <a href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#details">More...</a><br/></td></tr>
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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_consistent_observation_alignment.html#ad7a81824193b9922e7b62cb128132b5f">CConsistentObservationAlignment</a> ()</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_consistent_observation_alignment.html#ae84b3d3482c89b7184c579fe14461d16">execute</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &inputMap, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &outputMap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Executes the algorithm. <a href="#ae84b3d3482c89b7184c579fe14461d16"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1string.html">std::string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#aeb73b9da3f83b129901012cb0f879b15">getAlgorithmName</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A textual description for the implemented algorithm. <a href="#aeb73b9da3f83b129901012cb0f879b15"></a><br/></td></tr>
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Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#aef6e4432283f6eba3d5db3e3971314b0">optimizeUserSuppliedData</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html">math::CMatrixTemplateObjects</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> > &in_PoseConstraints, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html">math::CMatrixTemplateObjects</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> > &out_OptimalPoses)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This alternate method provides the basic consistent alignment algorithm to any user-supplied matrix of pose constrainsts, returning the optimal poses of all the nodes relative to the first one. <a href="#aef6e4432283f6eba3d5db3e3971314b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct SLAM_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html">mrpt::slam::CConsistentObservationAlignment::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#ae4470ac72a7ebeb2f7e454e1d99cd108">options</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_ptr.html">CPosePDFGaussianPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#a4500270ac40c2322cc7576e83420c33e">vector_posesPdf</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A sequence of probabilistic poses: <a href="#a4500270ac40c2322cc7576e83420c33e"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a4500270ac40c2322cc7576e83420c33e"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::vector_posesPdf" ref="a4500270ac40c2322cc7576e83420c33e" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_ptr.html">CPosePDFGaussianPtr</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#a4500270ac40c2322cc7576e83420c33e">mrpt::slam::CConsistentObservationAlignment::vector_posesPdf</a><code> [protected]</code></td>
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<p>A sequence of probabilistic poses: </p>
<p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00076">76</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ad7a81824193b9922e7b62cb128132b5f"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::CConsistentObservationAlignment" ref="ad7a81824193b9922e7b62cb128132b5f" args="()" -->
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<td class="memname">mrpt::slam::CConsistentObservationAlignment::CConsistentObservationAlignment </td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ae84b3d3482c89b7184c579fe14461d16"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::execute" ref="ae84b3d3482c89b7184c579fe14461d16" args="(CSimpleMap &inputMap, CSimpleMap &outputMap)" -->
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<td class="memname">void mrpt::slam::CConsistentObservationAlignment::execute </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
<td class="paramname"><em>inputMap</em>, </td>
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<p>Executes the algorithm. </p>
<p>See description in <a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html" title="An algorithm for globally, consistent alignment of a sequence of observations.">CConsistentObservationAlignment</a>.</p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">inputMap</td><td>The input to the algorithm: a set of nodes situated (with global coordinates) and observations from each node. </td></tr>
<tr><td class="paramname">outputMap</td><td>The globally consistent map, where probabilitic poses are filled with gaussian PDFs, where the mean is the globally optimal estimation and the covariance is also computed. </td></tr>
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<a class="anchor" id="aeb73b9da3f83b129901012cb0f879b15"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::getAlgorithmName" ref="aeb73b9da3f83b129901012cb0f879b15" args="()" -->
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<td class="memname"><a class="el" href="classstd_1_1string.html">std::string</a> mrpt::slam::CConsistentObservationAlignment::getAlgorithmName </td>
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<p>A textual description for the implemented algorithm. </p>
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<a class="anchor" id="aef6e4432283f6eba3d5db3e3971314b0"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::optimizeUserSuppliedData" ref="aef6e4432283f6eba3d5db3e3971314b0" args="(math::CMatrixTemplateObjects< CPosePDFGaussian > &in_PoseConstraints, math::CMatrixTemplateObjects< CPosePDFGaussian > &out_OptimalPoses)" -->
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<td class="memname">static void mrpt::slam::CConsistentObservationAlignment::optimizeUserSuppliedData </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html">math::CMatrixTemplateObjects</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> > & </td>
<td class="paramname"><em>in_PoseConstraints</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template_objects.html">math::CMatrixTemplateObjects</a>< <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> > & </td>
<td class="paramname"><em>out_OptimalPoses</em> </td>
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<p>This alternate method provides the basic consistent alignment algorithm to any user-supplied matrix of pose constrainsts, returning the optimal poses of all the nodes relative to the first one. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in_PoseConstraints</td><td>This is a NxN matrix where element M(i,j) is the pose constrainst between node "i" and "j". Please, fill out only the upper-triangle part of the matrix (diagonal and lowe-part entries are not used). </td></tr>
<tr><td class="paramname">out_OptimalPoses</td><td>The 1xN vector with the consistent global poses of all nodes, where the first node is always at (0,0,0deg). </td></tr>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
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<td class="paramtype">const char * </td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae4470ac72a7ebeb2f7e454e1d99cd108"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::options" ref="ae4470ac72a7ebeb2f7e454e1d99cd108" args="" -->
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<td class="memname">struct SLAM_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html">mrpt::slam::CConsistentObservationAlignment::TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html#ae4470ac72a7ebeb2f7e454e1d99cd108">mrpt::slam::CConsistentObservationAlignment::options</a></td>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
