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<div class="title">CIncrementalMapPartitioner.h</div> </div>
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<a href="_c_incremental_map_partitioner_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
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CINCREMENTALMAPPARTITIONER_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CINCREMENTALMAPPARTITIONER_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_multi_metric_map_8h.html">mrpt/slam/CMultiMetricMap.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_simple_points_map_8h.html">mrpt/slam/CSimplePointsMap.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_simple_map_8h.html">mrpt/slam/CSimpleMap.h</a>></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <<a class="code" href="_c_multi_metric_map_8h.html">mrpt/slam/CMultiMetricMap.h</a>></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <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="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keyword">namespace </span>mrpt
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="keyword">namespace </span>poses { <span class="keyword">class </span>CPose3DPDF; }
<a name="l00047"></a>00047 <span class="keyword">namespace </span>slam
<a name="l00048"></a>00048 {
<a name="l00049"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html#ae42fdce22b952098652f3af4e39c8b1b">00049</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html" title="This class can be used to make partitions on a map/graph build from observations taken at some poses/...">CIncrementalMapPartitioner</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> )
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">/** This class can be used to make partitions on a map/graph build from</span>
<a name="l00052"></a>00052 <span class="comment"> * observations taken at some poses/nodes.</span>
<a name="l00053"></a>00053 <span class="comment"> * \ingroup mrpt_slam_grp</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 class <a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html" title="This class can be used to make partitions on a map/graph build from observations taken at some poses/...">CIncrementalMapPartitioner</a> : public utils::<a class="code" 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...">CDebugOutputCapable</a>, public <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00058"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ad09a7f72c841302a64977f49d561ff8d">00058</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html" title="This class can be used to make partitions on a map/graph build from observations taken at some poses/...">CIncrementalMapPartitioner</a> )
<a name="l00059"></a>00059
<a name="l00060"></a>00060 public:<span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Constructor:</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html" title="This class can be used to make partitions on a map/graph build from observations taken at some poses/...">CIncrementalMapPartitioner</a>( );
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Destructor:</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 virtual ~CIncrementalMapPartitioner();
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** Initialization: Start of a new map, new internal matrices,...</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keywordtype">void</span> clear();
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Configuration of the algorithm:</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 struct <a class="code" href="slam_2include_2mrpt_2slam_2link__pragmas_8h.html#a26118d9c67fb641718c989b57c9acf64">SLAM_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html" title="Configuration of the algorithm:">TOptions</a> : public utils::<a class="code" 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 to configuratio...">CLoadableOptions</a>
<a name="l00076"></a>00076 {<span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Sets default values at object creation</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html" title="Configuration of the algorithm:">TOptions</a>();
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Load parameters from configuration source</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00084"></a>00084 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00085"></a>00085 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** This method must display clearly all the contents of the structure in textual form, sending it to a CStream.</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a>00089 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** The partition threshold for bisection in range [0,2], default=1.0</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a0889a4f22765220a241b5047535f30f4">00093</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a0889a4f22765220a241b5047535f30f4" title="The partition threshold for bisection in range [0,2], default=1.0.">partitionThreshold</a>;
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** For the occupancy grid maps of each node, default=0.10</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a4477711f6bedc9244cef4fd55b6143ac">00097</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a4477711f6bedc9244cef4fd55b6143ac" title="For the occupancy grid maps of each node, default=0.10.">gridResolution</a>;
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Used in the computation of weights, default=0.20</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ad4fa2a386e357e8b3a4a754124288846">00101</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ad4fa2a386e357e8b3a4a754124288846" title="Used in the computation of weights, default=0.20.">minDistForCorrespondence</a>;
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** Used in the computation of weights, default=2.0</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a631a6fa7913b194568f2ac1aa7401182">00105</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a631a6fa7913b194568f2ac1aa7401182" title="Used in the computation of weights, default=2.0.">minMahaDistForCorrespondence</a>;
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** If set to true (default), 1 or 2 clusters will be returned. Default=false -> Autodetermine the number of partitions.</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#acc51a86cbf2a34728c96f0316f975697">00109</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#acc51a86cbf2a34728c96f0316f975697" title="If set to true (default), 1 or 2 clusters will be returned.">forceBisectionOnly</a>;
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a4b20e6989a7b9457a27259fdb74db951">00113</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a4b20e6989a7b9457a27259fdb74db951" title="If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.">useMapMatching</a>;
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ae1735bdbe01ccbe1d1bfdb887cd04581">00117</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ae1735bdbe01ccbe1d1bfdb887cd04581" title="This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.">debugSaveAllEigenvectors</a>;
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1). */</span>
<a name="l00120"></a><a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a263a704e467fc2b54427d8b4024e0e9a">00120</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a263a704e467fc2b54427d8b4024e0e9a" title="If a partition leads to a cluster with less elements than this, it will be rejected even if had a goo...">minimumNumberElementsEachCluster</a>;
<a name="l00121"></a>00121
<a name="l00122"></a>00122 } options;
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Add a new frame to the current graph: call this method each time a new observation</span>
<a name="l00125"></a>00125 <span class="comment"> * is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions"</span>
<a name="l00126"></a>00126 <span class="comment"> * \param frame The sensed data</span>
<a name="l00127"></a>00127 <span class="comment"> * \param robotPose An estimation of the robot global 2D pose.</span>
<a name="l00128"></a>00128 <span class="comment"> * \return The index of the new pose in the internal list, which will be used to refer to the pose in the future.</span>
<a name="l00129"></a>00129 <span class="comment"> * \sa updatePartitions</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> addMapFrame( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &frame, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &robotPose2D );
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Add a new frame to the current graph: call this method each time a new observation</span>
<a name="l00134"></a>00134 <span class="comment"> * is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions"</span>
<a name="l00135"></a>00135 <span class="comment"> * \param frame The sensed data</span>
<a name="l00136"></a>00136 <span class="comment"> * \param robotPose An estimation of the robot global 2D pose.</span>
<a name="l00137"></a>00137 <span class="comment"> * \return The index of the new pose in the internal list, which will be used to refer to the pose in the future.</span>
<a name="l00138"></a>00138 <span class="comment"> * \sa updatePartitions</span>
<a name="l00139"></a>00139 <span class="comment"> */</span>
<a name="l00140"></a>00140 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> addMapFrame( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &frame, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &robotPose3D );
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** Add a new frame to the current graph: call this method each time a new observation</span>
<a name="l00143"></a>00143 <span class="comment"> * is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions"</span>
<a name="l00144"></a>00144 <span class="comment"> * \param frame The sensed data</span>
<a name="l00145"></a>00145 <span class="comment"> * \param robotPose An estimation of the robot global 2D pose.</span>
<a name="l00146"></a>00146 <span class="comment"> * \return The index of the new pose in the internal list, which will be used to refer to the pose in the future.</span>
<a name="l00147"></a>00147 <span class="comment"> * \sa updatePartitions</span>
<a name="l00148"></a>00148 <span class="comment"> */</span>
<a name="l00149"></a>00149 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> addMapFrame( <span class="keyword">const</span> <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> &frame, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &robotPose3D );
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** This method executed only the neccesary part of the partition to take</span>
<a name="l00152"></a>00152 <span class="comment"> * into account the lastest added frames.</span>
<a name="l00153"></a>00153 <span class="comment"> * \sa addMapFrame</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <span class="keywordtype">void</span> updatePartitions( <a class="code" href="classstd_1_1vector.html">std::vector<vector_uint></a> &partitions );
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** It returns the nodes count currently in the internal map/graph.</span>
<a name="l00158"></a>00158 <span class="comment"> */</span>
<a name="l00159"></a>00159 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getNodesCount();
<a name="l00160"></a>00160 <span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** Remove the stated nodes (0-based indexes) from the internal lists.</span>
<a name="l00162"></a>00162 <span class="comment"> * If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0).</span>
<a name="l00163"></a>00163 <span class="comment"> */</span>
<a name="l00164"></a>00164 <span class="keywordtype">void</span> removeSetOfNodes(<a class="code" href="classstd_1_1vector.html" title="STL class.">vector_uint</a> indexesToRemove, <span class="keywordtype">bool</span> changeCoordsRef = <span class="keyword">true</span>);
<a name="l00165"></a>00165 <span class="comment"></span>
<a name="l00166"></a>00166 <span class="comment"> /** Returns a copy of the internal adjacency matrix. */</span>
<a name="l00167"></a>00167 <span class="keyword">template</span> <<span class="keyword">class</span> MATRIX>
<a name="l00168"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a20155785597748f54f10ded8b03e8379">00168</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a20155785597748f54f10ded8b03e8379" title="Returns a copy of the internal adjacency matrix.">getAdjacencyMatrix</a>( MATRIX &outMatrix )<span class="keyword"> const </span>{ outMatrix = m_A; }
<a name="l00169"></a>00169 <span class="comment"></span>
<a name="l00170"></a>00170 <span class="comment"> /** Returns a const ref to the internal adjacency matrix. */</span>
<a name="l00171"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec302cbc0cbd280fc1ee920d1a0ffe29">00171</a> <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> & <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec302cbc0cbd280fc1ee920d1a0ffe29" title="Returns a const ref to the internal adjacency matrix.">getAdjacencyMatrix</a>( )<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_A; }
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"> /** Read-only access to the sequence of Sensory Frames</span>
<a name="l00174"></a>00174 <span class="comment"> */</span>
<a name="l00175"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0f198071ed5e69fe0bfcbcbca38e8e88">00175</a> <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>* getSequenceOfFrames( )<span class="keyword"> const</span>
<a name="l00176"></a>00176 <span class="keyword"> </span>{
<a name="l00177"></a>00177 <span class="keywordflow">return</span> &m_individualFrames;
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179 <span class="comment"></span>
<a name="l00180"></a>00180 <span class="comment"> /** Access to the sequence of Sensory Frames</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa162635c4f9bed86d7e0ebab43bc04eb">00182</a> <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>* getSequenceOfFrames( )
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184 <span class="keywordflow">return</span> &m_individualFrames;
<a name="l00185"></a>00185 }
<a name="l00186"></a>00186 <span class="comment"></span>
<a name="l00187"></a>00187 <span class="comment"> /** Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs.</span>
<a name="l00188"></a>00188 <span class="comment"> */</span>
<a name="l00189"></a>00189 <span class="keywordtype">void</span> markAllNodesForReconsideration();
<a name="l00190"></a>00190 <span class="comment"></span>
<a name="l00191"></a>00191 <span class="comment"> /** Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. */</span>
<a name="l00192"></a>00192 <span class="keywordtype">void</span> changeCoordinatesOrigin( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newOrigin );
<a name="l00193"></a>00193 <span class="comment"></span>
<a name="l00194"></a>00194 <span class="comment"> /** Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. */</span>
<a name="l00195"></a>00195 <span class="keywordtype">void</span> changeCoordinatesOriginPoseIndex( <span class="keyword">const</span> <span class="keywordtype">unsigned</span> &newOriginPose );
<a name="l00196"></a>00196 <span class="comment"></span>
<a name="l00197"></a>00197 <span class="comment"> /** Returns a 3D representation of the current state: poses & links between them.</span>
<a name="l00198"></a>00198 <span class="comment"> * The previous contents of "objs" will be discarded</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a>00200 <span class="keywordtype">void</span> getAs3DScene(
<a name="l00201"></a>00201 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &objs,
<a name="l00202"></a>00202 <span class="keyword">const</span> <a class="code" href="classstd_1_1map.html" title="STL class.">std::map< uint32_t, int64_t ></a> *renameIndexes = NULL
<a name="l00203"></a>00203 ) <span class="keyword">const</span>;
<a name="l00204"></a>00204
<a name="l00205"></a>00205 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** El conjunto de los scans se guardan en un array:</span>
<a name="l00207"></a>00207 <span class="comment"> */</span>
<a name="l00208"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0">00208</a> <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 class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0" title="El conjunto de los scans se guardan en un array:">m_individualFrames</a>;
<a name="l00209"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">00209</a> std<a class="code" href="classstd_1_1deque.html">::deque<mrpt::slam::CMultiMetricMap></a> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">m_individualMaps</a>;
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="comment"> /** Adjacency matrix</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac">00214</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac" title="Adjacency matrix.">m_A</a>;
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment"> /** The last partition</span>
<a name="l00217"></a>00217 <span class="comment"> */</span>
<a name="l00218"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa0220ab7837fc5d1d2befb05cf32ecaf">00218</a> std<a class="code" href="classstd_1_1vector.html">::vector<vector_uint></a> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa0220ab7837fc5d1d2befb05cf32ecaf" title="The last partition.">m_last_partition</a>;
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /** This will be true after adding new observations, and before an "updatePartitions" is invoked.</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aac5b5fcd23f95b65ace0c69cb1c820ad">00222</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aac5b5fcd23f95b65ace0c69cb1c820ad" title="This will be true after adding new observations, and before an "updatePartitions" is invoked...">m_last_last_partition_are_new_ones</a>;
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a>00224 <span class="comment"> /** La lista de nodos que hay que tener en cuenta en la proxima actualizacion:</span>
<a name="l00225"></a>00225 <span class="comment"> */</span>
<a name="l00226"></a><a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17">00226</a> std<a class="code" href="classstd_1_1vector.html">::vector<uint8_t></a> <a class="code" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17" title="La lista de nodos que hay que tener en cuenta en la proxima actualizacion:">m_modified_nodes</a>;
<a name="l00227"></a>00227
<a name="l00228"></a>00228 }; <span class="comment">// End of class def.</span>
<a name="l00229"></a>00229
<a name="l00230"></a>00230
<a name="l00231"></a>00231 } <span class="comment">// End of namespace</span>
<a name="l00232"></a>00232 } <span class="comment">// End of namespace</span>
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<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>
