jafar::slammm::ListMapsPoseManager Class Reference

Store the pose of each maps in a list. More...

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Detailed Description

Store the pose of each maps in a list.

Definition at line 13 of file ListMapsPoseManager.hpp.

#include <ListMapsPoseManager.hpp>

Inheritance diagram for jafar::slammm::ListMapsPoseManager:

List of all members.

Classes
struct	MapPoseInfo
struct	MapPoseInfoEdge
Public Member Functions
	ListMapsPoseManager (std::size_t maxStateSize)
virtual void	addFirstMapPose (unsigned int _mapId, unsigned int _robotId, const jblas::vec &_robotState, const jblas::mat &_robotStateCov)
	Add the pose of the first map in the world.
virtual void	addMapPose (unsigned int _mapId, unsigned int _robotId, unsigned int _previousMapId, const jblas::vec &_robotState, const jblas::mat &_robotStateCov)
	Add the pose of a map in reference to an other map.
virtual jafar::geom::T3DEuler	getWorldToMapTransformation (unsigned int _mapId) const
virtual jafar::geom::T3DEuler	getMapToMapTransformation (unsigned int _firstMapId, unsigned int _secondMapId) const
virtual void	enforceLoopConstraint (unsigned int _firstMapId, unsigned int _secondMapId, const jblas::vec &_transformation, const jblas::sym_mat &_transformationCov)
	Enforce loop constraints when a transformation between two maps is known.
virtual bool	canEnforceLoopConstraint (unsigned int _firstMapId, unsigned int _secondMapId) const
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.
void	displayConnections () const
void	exportToDot (char *_filename)
	Export the graph structure to dot.
Private Types
typedef std::list< std::pair < MapPoseInfo *, MapPoseInfoEdge * > >	CycleType
Private Member Functions
void	getToMapTransformation (jafar::geom::T3DEuler &transfo, unsigned int _mapId, unsigned int _secondMapId) const
	Get the transformation to a map.
MapPoseInfoEdge *	createEdge (int robotStateSize)
CycleType	smallestCycleBetween (MapPoseInfo *_firstMap, MapPoseInfo *_secondMap) const
bool	mapAreConnected (MapPoseInfo *_map1, MapPoseInfo *_map2) const
Private Attributes
std::list< MapPoseInfoEdge * >	m_mapPoseEdgeInfos
	list of edges for memory management purposes
std::map< unsigned int, MapPoseInfo * >	m_mapPoseInfos
jblas::vec	m_state
jblas::sym_mat	m_cov
int	m_nextFreeState
MapPoseInfo *	globalFrameInfo

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Member Function Documentation

virtual void jafar::slammm::ListMapsPoseManager::enforceLoopConstraint	(	unsigned int	_firstMapId,
		unsigned int	_secondMapId,
		const jblas::vec &	_transformation,
		const jblas::sym_mat &	_transformationCov
	)		[virtual]

Enforce loop constraints when a transformation between two maps is known.

Parameters:

_transformation	the transformation from the first map to the second map
_transformationCov

Implements jafar::slammm::MapsPoseManager.

virtual jafar::geom::T3DEuler jafar::slammm::ListMapsPoseManager::getMapToMapTransformation	(	unsigned int	_firstMapId,
		unsigned int	_secondMapId
	)		const [virtual]

Returns:

the transformation between two maps. It the transformation of robot2/map2 expressed in robot1/map1 frame.

Implements jafar::slammm::MapsPoseManager.

void jafar::slammm::ListMapsPoseManager::getToMapTransformation	(	jafar::geom::T3DEuler &	transfo,
		unsigned int	_mapId,
		unsigned int	_secondMapId
	)		const [private]

Get the transformation to a map.

Parameters:

_secondMapId

id of the second map (if possible)

Returns:

true if the transformation is global

virtual jafar::geom::T3DEuler jafar::slammm::ListMapsPoseManager::getWorldToMapTransformation

(

unsigned int

_mapId

)

const [virtual]

Returns:

the transformation from the given map to the world.

Implements jafar::slammm::MapsPoseManager.

bool jafar::slammm::ListMapsPoseManager::mapAreConnected	(	MapPoseInfo *	_map1,
		MapPoseInfo *	_map2
	)		const [private]

Returns:

true if the two maps in argument are connected

CycleType jafar::slammm::ListMapsPoseManager::smallestCycleBetween	(	MapPoseInfo *	_firstMap,
		MapPoseInfo *	_secondMap
	)		const [private]

Returns:

the smallest loop between two maps (or an empty list if there isn't such a loop)

virtual void jafar::slammm::ListMapsPoseManager::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::slammm::ListMapsPoseManager::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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The documentation for this class was generated from the following file:

• modules/slammm/include/slammm/ListMapsPoseManager.hpp