Global (long term) map manager. More...

Detailed Description

Global (long term) map manager.

It uses three criterias to limit the number of landmarks:

the {density} of landmarks in the map is kept low thanks to a voxel mechanism. Only one landmark per voxel is allowed. The landmark the most seen is kept.
the {number of observations} of landmarks must be high in order to be kept
the {uncertainty} of landmarks must be low in order to be kept

The map manager garbage-collects subvectors of the filter state and use them to add new landmarks

Definition at line 157 of file mapManager.hpp.

Inheritance diagram for jafar::slam::GlobalMapManager:

Classes
class	Stats
Public Member Functions
	GlobalMapManager (SlamEkf &slam_, double sizeVoxel_, unsigned int nbObsMin, double minUncertainty)
	GlobalMapManager (SlamEkf &slam_)
void	setParams (double sizeVoxel=1.0, unsigned int nbObsMin=5, double minUncertainty=0.01)
void	clear ()
void	setMapObjectState (AbstractMapObject &mapObj)
void	removeMapObject (AbstractMapObject const &mapObj)
virtual void	endProcessObservations (unsigned int robotId_)
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogStats (jafar::kernel::DataLogger &log) const
	write stats at the end of the log
Protected Types
typedef std::map < details::VoxelCoord, BaseFeature * >	VoxelsType
Protected Member Functions
details::VoxelCoord	getVoxelCoord (BaseFeature const &f)
Protected Attributes
unsigned int	m_nbObsMin
	minimum number of observations for a landmark to be kept in the map
double	m_minUncertainty
	uncertainty
double	m_sizeVoxel
	world decomposition in voxels
VoxelsType	m_voxels
FreeStateCollector	m_freeStateCollector
	garbage collector
int	m_ndel_density
int	m_ndel_obs
int	m_ndel_uncertainty
class jafar::slam::GlobalMapManager::Stats	stats

Member Function Documentation

void jafar::slam::GlobalMapManager::setParams	(	double	sizeVoxel = `1.0`,
		unsigned int	nbObsMin = `5`,
		double	minUncertainty = `0.01`
	)

Parameters:

sizeVoxel	the size of voxels
nbObsMin	defines the minimal number of observations. If the feature is observed less than nbObsMin, it is removed. If it is observed less than 2nbObsMin it is removed if uncertainty is greater than minUncertainty. If it is observed more than 2nbObsMin it is kept.
minUncertainty	minimal uncertainty on the maximal eigen value, a feature below that threshold will be rejected if there isn't enough observations

virtual void jafar::slam::GlobalMapManager::writeLogData ( jafar::kernel::DataLogger & log ) const [virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

virtual void jafar::slam::GlobalMapManager::writeLogHeader ( jafar::kernel::DataLogger & log ) const [virtual]

Implements this method calling repeatidly log methods.

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

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