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<div class="title">mrpt::slam::CMetricMapBuilder Class Reference<div class="ingroups"><a class="el" href="group__metric__slam__grp.html">Metric SLAM algorithms</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CMetricMapBuilder" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This virtual class is the base for SLAM implementations. </p>
<p>See derived classes for more information.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">CMetricMap</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_metric_map_builder_8h_source.html">mrpt/slam/CMetricMapBuilder.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CMetricMapBuilder:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_metric_map_builder__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_metric_map_builder_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node5" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html" title="A class for very simple 2D SLAM based on ICP." alt="" coords="5,155,232,181"/><area shape="rect" id="node7" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html" title="This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM)..." alt="" coords="257,155,495,181"/><area shape="rect" id="node2" 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..." alt="" coords="135,5,357,32"/></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-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
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_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options for the algorithm. <a href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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.html#a579b459d59f73cadc13cf2abb49e358e">CMetricMapBuilder</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a579b459d59f73cadc13cf2abb49e358e"></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.html#ae52cebf3586ba52414f40dbe3f28c1b3">~CMetricMapBuilder</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#ae52cebf3586ba52414f40dbe3f28c1b3"></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.html#a45414544fc4c56b67c450efbbc6f61b8">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all elements of the maps, and reset localization to (0,0,0deg). <a href="#a45414544fc4c56b67c450efbbc6f61b8"></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.html#ac9982ebd2fcc745ecd760f4c982427a4">enableMapUpdating</a> (bool enable)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables or disables the map updating (default state is enabled) <a href="#ac9982ebd2fcc745ecd760f4c982427a4"></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.html#a20741a2a879dab820f10618424a97b2a">loadCurrentMapFromFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &fileName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load map (<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...">mrpt::slam::CSimpleMap</a>) from a ".simplemap" file. <a href="#a20741a2a879dab820f10618424a97b2a"></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.html#a5aaa791f174c29a07ccf7f29adafb386">saveCurrentMapToFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &fileName, bool compressGZ=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save map (<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...">mrpt::slam::CSimpleMap</a>) to a ".simplemap" file. <a href="#a5aaa791f174c29a07ccf7f29adafb386"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Pure virtual methods to implement in any particular SLAM algorithm</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a05ab1ad7345695e3b050c79ddfb44111">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)=0</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="#a05ab1ad7345695e3b050c79ddfb44111"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db935488eb11d47ac17dff0cd2ba091">getCurrentPoseEstimation</a> () const =0</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="#a8db935488eb11d47ac17dff0cd2ba091"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8f54b3526d92e6229b95fdb794083355">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> &observations)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="#a8f54b3526d92e6229b95fdb794083355"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#accb35416b8bf85da803b83e99bad02db">getCurrentlyBuiltMap</a> (<a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &out_map) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. <a href="#accb35416b8bf85da803b83e99bad02db"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#afdea305bbb77c9ead1e909150c4875dc">getCurrentlyBuiltMapSize</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns just how many sensory-frames are stored in the currently build map. <a href="#afdea305bbb77c9ead1e909150c4875dc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <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.html#a3a6c22213142511cde0f076587f21c7f">getCurrentlyBuiltMetricMap</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the map built so far. <a href="#a3a6c22213142511cde0f076587f21c7f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#ad6ed4fe0eb73c5dab4b265f2a55da84d">saveCurrentEstimationToImage</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file, bool formatEMF_BMP=true)=0</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="#ad6ed4fe0eb73c5dab4b265f2a55da84d"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
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_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"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html">TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db543d082103e5300415d4139d9255a">options</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected 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.html#ade4637e621a9a02380ba877fc7e20f2a">enterCriticalSection</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enter critical section for map updating: <a href="#ade4637e621a9a02380ba877fc7e20f2a"></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.html#a02e4f68550a98bc5a2acea71ee9268d9">leaveCriticalSection</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Leave critical section for map updating: <a href="#a02e4f68550a98bc5a2acea71ee9268d9"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a2effa8714a43d5bdfd27b0e9fee09cb3">critZoneChangingMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Critical zones. <a href="#a2effa8714a43d5bdfd27b0e9fee09cb3"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a579b459d59f73cadc13cf2abb49e358e"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::CMetricMapBuilder" ref="a579b459d59f73cadc13cf2abb49e358e" args="()" -->
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<td class="memname">mrpt::slam::CMetricMapBuilder::CMetricMapBuilder </td>
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<p>Constructor. </p>
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<a class="anchor" id="ae52cebf3586ba52414f40dbe3f28c1b3"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::~CMetricMapBuilder" ref="ae52cebf3586ba52414f40dbe3f28c1b3" args="()" -->
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<td class="memname">virtual mrpt::slam::CMetricMapBuilder::~CMetricMapBuilder </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a45414544fc4c56b67c450efbbc6f61b8"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::clear" ref="a45414544fc4c56b67c450efbbc6f61b8" args="()" -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::clear </td>
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<p>Clear all elements of the maps, and reset localization to (0,0,0deg). </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a8535aedd13efe9c73362c41cff57ad8e">mrpt::slam::CMetricMapBuilderRBPF</a>.</p>
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<a class="anchor" id="ac9982ebd2fcc745ecd760f4c982427a4"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::enableMapUpdating" ref="ac9982ebd2fcc745ecd760f4c982427a4" args="(bool enable)" -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::enableMapUpdating </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>enable</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Enables or disables the map updating (default state is enabled) </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00114">114</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="ade4637e621a9a02380ba877fc7e20f2a"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::enterCriticalSection" ref="ade4637e621a9a02380ba877fc7e20f2a" args="()" -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::enterCriticalSection </td>
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<td><code> [inline, protected]</code></td>
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<p>Enter critical section for map updating: </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00063">63</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="accb35416b8bf85da803b83e99bad02db"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap" ref="accb35416b8bf85da803b83e99bad02db" args="(CSimpleMap &out_map) const =0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMap </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
<td class="paramname"><em>out_map</em></td><td>)</td>
<td> const<code> [pure virtual]</code></td>
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<p>Fills "out_map" with the set of "poses"-"sensory-frames", thus the so far built map. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#af36b951c3429e49414e1231ad3edf35a">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#ac616ad0198e3b2cd68fd75eb2795fedc">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="afdea305bbb77c9ead1e909150c4875dc"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize" ref="afdea305bbb77c9ead1e909150c4875dc" args="()=0" -->
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<td class="memname">virtual unsigned int mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMapSize </td>
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<p>Returns just how many sensory-frames are stored in the currently build map. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a3588366ffb1147c23f57e1ae2cccec66">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a9297996b2194bae02ea112e9a7256027">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="a3a6c22213142511cde0f076587f21c7f"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap" ref="a3a6c22213142511cde0f076587f21c7f" args="()=0" -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a>* mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [pure virtual]</code></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>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a63b8438c1c0ae5308579847958e1384b">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a64cb24ecb715b33e41712f109cb4c4ca">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="a8db935488eb11d47ac17dff0cd2ba091"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation" ref="a8db935488eb11d47ac17dff0cd2ba091" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> mrpt::slam::CMetricMapBuilder::getCurrentPoseEstimation </td>
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<td> const<code> [pure virtual]</code></td>
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<p>Returns a copy of the current best pose estimation as a pose PDF. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a93bf627a068b5b3ea299e8b729564edd">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a45620c0802954419b152685e22a10981">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="a05ab1ad7345695e3b050c79ddfb44111"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::initialize" ref="a05ab1ad7345695e3b050c79ddfb44111" args="(const CSimpleMap &initialMap=CSimpleMap(), CPosePDF *x0=NULL)=0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilder::initialize </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
<td class="paramname"><em>initialMap</em> = <code><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>()</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> * </td>
<td class="paramname"><em>x0</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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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>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a7e6cc1d4bdc90c2fd10e09aa0eca543b">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a1106c4ff0e3af8b8ce752fe7e67530be">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="a02e4f68550a98bc5a2acea71ee9268d9"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::leaveCriticalSection" ref="a02e4f68550a98bc5a2acea71ee9268d9" args="()" -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::leaveCriticalSection </td>
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<td><code> [inline, protected]</code></td>
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<p>Leave critical section for map updating: </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00067">67</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="a20741a2a879dab820f10618424a97b2a"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile" ref="a20741a2a879dab820f10618424a97b2a" args="(const std::string &fileName)" -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>fileName</em></td><td>)</td>
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<p>Load map (<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...">mrpt::slam::CSimpleMap</a>) from a ".simplemap" file. </p>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
<td>(</td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>frmt</em>, </td>
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<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></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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<a class="anchor" id="a8f54b3526d92e6229b95fdb794083355"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::processActionObservation" ref="a8f54b3526d92e6229b95fdb794083355" args="(CActionCollection &action, CSensoryFrame &observations)=0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilder::processActionObservation </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">CActionCollection</a> & </td>
<td class="paramname"><em>action</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"><em>observations</em> </td>
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<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>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. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">action</td><td>The estimation of the incremental pose change in the robot pose. </td></tr>
<tr><td class="paramname">observations</td><td>The set of observations that robot senses at the new pose. </td></tr>
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</dd>
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<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a914dd7413e703c8c22093f340e6423ee">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#ae59c6b2a7b0222a85e2cc2cfeca19c10">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="ad6ed4fe0eb73c5dab4b265f2a55da84d"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage" ref="ad6ed4fe0eb73c5dab4b265f2a55da84d" args="(const std::string &file, bool formatEMF_BMP=true)=0" -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilder::saveCurrentEstimationToImage </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em>, </td>
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<td class="paramname"><em>formatEMF_BMP</em> = <code>true</code> </td>
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<td></td><td><code> [pure virtual]</code></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 class="params">
<tr><td class="paramname">file</td><td>The output file name </td></tr>
<tr><td class="paramname">formatEMF_BMP</td><td>Output format = true:EMF, false:BMP </td></tr>
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</dd>
</dl>
<p>Implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_r_b_p_f.html#a244bdf1b8b839b572a8480082011cca4">mrpt::slam::CMetricMapBuilderRBPF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p.html#a12b97251df911adff7760d73b09e40f7">mrpt::slam::CMetricMapBuilderICP</a>.</p>
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<a class="anchor" id="a5aaa791f174c29a07ccf7f29adafb386"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile" ref="a5aaa791f174c29a07ccf7f29adafb386" args="(const std::string &fileName, bool compressGZ=true) const " -->
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<td class="memname">void mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>fileName</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>compressGZ</em> = <code>true</code> </td>
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<td>)</td>
<td></td><td> const</td>
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<p>Save map (<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...">mrpt::slam::CSimpleMap</a>) to a ".simplemap" file. </p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a2effa8714a43d5bdfd27b0e9fee09cb3"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::critZoneChangingMap" ref="a2effa8714a43d5bdfd27b0e9fee09cb3" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a2effa8714a43d5bdfd27b0e9fee09cb3">mrpt::slam::CMetricMapBuilder::critZoneChangingMap</a><code> [protected]</code></td>
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<p>Critical zones. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00059">59</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="a8db543d082103e5300415d4139d9255a"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::options" ref="a8db543d082103e5300415d4139d9255a" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html">TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map_builder.html#a8db543d082103e5300415d4139d9255a">mrpt::slam::CMetricMapBuilder::options</a></td>
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<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00150">150</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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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>
