jafar::rtslam::MapAbstract Class Reference

Base class for all map types defined in the module rtslam. More...

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Detailed Description

Base class for all map types defined in the module rtslam.

Author:

jsola

Definition at line 43 of file mapAbstract.hpp.

#include <mapAbstract.hpp>

Inheritance diagram for jafar::rtslam::MapAbstract:

List of all members.

Public Member Functions
	MapAbstract (size_t _max_size)
	Constructor.
	MapAbstract (const ekfInd_ptr_t &ekfPtr)
virtual	~MapAbstract ()
	Mandatory virtual destructor - Map is used as-is, non-abstract by now.
virtual std::string	categoryName () const
jblas::ind_array	ia_used_states ()
	Map's indirect array is a function by now.
jblas::vec &	x ()
jblas::sym_mat &	P ()
double &	x (size_t i)
double &	P (size_t i, size_t j)
std::size_t	unusedStates () const
	Query about available free space.
bool	unusedStates (const size_t N) const
	Query about available free space.
jblas::ind_array	reserveStates (const std::size_t _size)
	Obtain free Map space of a given size.
jblas::ind_array	convertStates (const jblas::ind_array &_ia, const std::size_t N, jblas::ind_array &_icomp)
	From the already-reserved space _ia, keep the first N states in a new index that is returned, and stored all the other states in _icomp for future liberation.
void	liberateStates (const jblas::ind_array &_ia)
	Liberate the space indicated.
void	clear ()
void	fillSeq ()
void	fillDiag ()
void	fillDiagSeq ()
void	fillRndm ()
virtual void	writeLogHeader (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Public Attributes
Gaussian	state
ekfInd_ptr_t	filterPtr
	EKF engine.
size_t	max_size
	Size things and map usage management.
size_t	current_size
jblas::vecb	used_states
Private Member Functions
	ENABLE_LINK_TO_PARENT (WorldAbstract, World, MapAbstract)
	ENABLE_ACCESS_TO_PARENT (WorldAbstract, world)
	ENABLE_ACCESS_TO_CHILDREN (RobotAbstract, Robot, robot)
	ENABLE_ACCESS_TO_CHILDREN (MapManagerAbstract, MapManager, mapManager)
Friends
std::ostream &	operator<< (std::ostream &s, MapAbstract const &map)
	Print all MAP data.

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Member Function Documentation

jblas::ind_array jafar::rtslam::MapAbstract::ia_used_states

(

)

[inline]

Map's indirect array is a function by now.

Returns:

the indirect array of all used states in the map.

Todo:

: see how to avoid constructing this each time

Definition at line 104 of file mapAbstract.hpp.

References jafar::jmath::ublasExtra::ia_set().

void jafar::rtslam::MapAbstract::liberateStates

(

const jblas::ind_array &

_ia

)

Liberate the space indicated.

The free space in used_states and the current size current_size are modified accordingly.

Parameters:

_ia	the space to liberate.

jblas::ind_array jafar::rtslam::MapAbstract::reserveStates

(

const std::size_t

_size

)

Obtain free Map space of a given size.

The free space in used_states and the current size current_size are modified accordingly. Ig not enough space is available, the returned indirect array is of null size.

Parameters:

_size

the requested free space size.

Returns:

the resulting free space.

std::size_t jafar::rtslam::MapAbstract::unusedStates

(

)

const [inline]

Query about available free space.

Returns:

the number of unused states

Definition at line 120 of file mapAbstract.hpp.

References max_size.

Referenced by unusedStates().

bool jafar::rtslam::MapAbstract::unusedStates

(

const size_t

N

)

const [inline]

Query about available free space.

Returns:

true if at least N non-used states

Definition at line 129 of file mapAbstract.hpp.

References unusedStates().

virtual void jafar::rtslam::MapAbstract::writeLogData

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

virtual void jafar::rtslam::MapAbstract::writeLogHeader

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Implements jafar::kernel::DataLoggable.

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	s,
		MapAbstract const &	map
	)		[friend]

Print all MAP data.

It traverses the map tree in the following way:

• robots
  • sensors in robot
• landmarks
  • observations of landmark from each sensor

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The documentation for this class was generated from the following file:

• modules/rtslam/include/rtslam/mapAbstract.hpp