jafar::slammm::MultiMapsSlam Class Reference

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Detailed Description

Definition at line 26 of file MultiMapManager.hpp.

Inheritance diagram for jafar::slammm::MultiMapsSlam:

List of all members.

Classes
struct	RobotMaps
struct	SlamEkfInfo
	This structure contains a filter and various information. More...
Public Member Functions
	MultiMapsSlam (std::size_t sizeMax_, MapsPoseManager *_mapsPoseManager, StartNewMapStrategy *_startNewMapStrategy, MergeMapsStrategy *_mergeMapsStrategy, slam::MapManagerFactory *mapManagerFactory=0, int firstMapId=0)
void	mergeMap (unsigned int _map1Id, unsigned int _map2Id, const geom::T3DEuler &transfo)
	Merge the map of a robot into the map of an other map.
slam::SlamEkf *	getCurrentMap (unsigned int _robotId=0)
	Function that return the current map.
const slam::SlamEkf *	getCurrentMap (unsigned int _robotId=0) const
slam::SlamEkf *	getMap (unsigned int _mapId, unsigned int _robotId=0)
unsigned int	mapId (slam::SlamEkf *) const
void	getWorldRobotPose (jafar::geom::T3DEuler &pose, unsigned int _robotId=0) const
	Function that return the global position of the robot.
jafar::geom::T3DEuler	getWorldRobotPose (unsigned int _robotId=0) const
void	getWorldFeatureState (jblas::vec &_result, unsigned int _featureId, unsigned int _currentMapId) const
void	getWorldFeatureState (jblas::vec &_result, jblas::sym_mat &_resultCov, unsigned int _featureId, unsigned int _currentMapId) const
jafar::geom::T3DEuler	getWorldToCurrentMapTransformation (unsigned int _robotId=0) const
	Get the transformation from the World frame to current map.
jafar::geom::T3DEuler	getWorldToMapTransformation (unsigned int _mapId) const
	Get the transformation from the World frame to a given map.
void	beginBrowseMaps ()
bool	hasNextMap ()
slam::SlamEkf *	nextMap ()
const std::map< unsigned int, slam::SlamEkf * >	getMaps () const
slam::SlamEkf *	getGlobalMap () const
	Merge all maps in one global map, using a similar method as Divide & Conquer.
void	addRobot (slam::BaseRobot *)
void	addRobot (slam::BaseRobot *, const jblas::vec &_robotState, const jblas::sym_mat &_robotStateCov)
void	setSensor (slam::FeatureObserveModel *model, unsigned int sensorId, unsigned int _robotId)
void	setRobotToSensor (jblas::vec const &robotToSensor, int sensorId, unsigned int _robotId)
virtual void	predict (unsigned int _robotId, jblas::vec const &u)
virtual bool	hasFeature (unsigned int id, unsigned int _robotId=0) const
virtual void	getRobotPose (jafar::geom::T3DEuler &pose, unsigned int _robotId=0) const
virtual void	removeFeature (unsigned int id)
virtual void	addEventListener (slam::SlamEventListener &listener)
virtual void	removeEventListener (slam::SlamEventListener &listener)
virtual void	processObservations (unsigned int frameIndex_, std::list< slam::Observation * > const &knownObs, std::list< slam::Observation * > const &newObs, unsigned int robotId_=0, int events_=slam::SlamEventListener::ALL)
virtual void	processObservations (unsigned int frameIndex_, std::vector< slam::Observation * > const &knownObs, std::vector< slam::Observation * > const &newObs, unsigned int robotId_=0, int events_=slam::SlamEventListener::ALL)
template<typename SequenceType >
void	processObservations (unsigned int frameIndex_, SequenceType const &allObs, unsigned int robotId_=0, int events_=slam::SlamEventListener::ALL)
void	rendezVous (unsigned int _firstRobotId, unsigned int _secondRobotId, const geom::T3DEuler &firstToSecond)
	Call this function when a rendez-vous event happen between two robots and that the tranformation between the two robots is known.
void	gpsFix (const std::map< unsigned int, geom::T3DEuler > &worldToRobots)
	Call this function when the position of multiple robots is known.
void	gpsFix (unsigned int _robotId, const geom::T3DEuler &worldToRobot)
	Convenient function that will execute a GPS fix event for a single robot.
void	closeLoop (unsigned int _firstMapId, unsigned int _secondMapId, const geom::T3DEuler &firstToSecond)
	Close the loop between two maps.
bool	canCloseLoop (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.
virtual void	addMembersToLog (kernel::DataLogger &log) const
	Once the loggable has been added, this method is called so that the loggable can add some of its members to the log.
void	setEventsDataLogger (kernel::DataLogger *log)
	Log events that happen in the MultiMapsSlam.
void	addEventListener (MultiMapEventListener *listener)
void	removeEventListener (MultiMapEventListener *listener)
void	printInfo ()
	Print some information about the multimap manager.
void	startNewMap (unsigned int _robotId)
	Start a new map for robot _robotId.
Private Types
typedef std::map< unsigned int, slam::FeatureObserveModel * >	FeatureObserveModelsContType
Private Member Functions
template<class SequenceType1 , class SequenceType2 >
void	processObservationsImpl (unsigned int frameIndex_, SequenceType1 const &knownObs, SequenceType2 const &newObs, unsigned int _robotId, int events_)
	Process observations, it will create a new map if needed.
void	initNewMap (unsigned int _robotId)
void	startNewMap (RobotMaps &)
void	updateCacheWorldToCurrentMap ()
	Update all world transformation that are cached in RobotMaps.
Private Attributes
int	nextMapId
std::map< unsigned int, SlamEkfInfo >	m_maps
std::map< unsigned int, RobotMaps >	m_robotMaps
MapsPoseManager *	m_mapsPoseManager
StartNewMapStrategy *	m_startNewMapStrategy
MergeMapsStrategy *	m_mergeMapsStrategy
slam::MapManagerFactory *	m_mapManagerFactory
std::size_t	m_sizeMax
std::list< unsigned int >	m_sensorsIds
	list of sensors ids, this list is used by setSensor to ensure that the id of a sensor is unique
std::list < slam::SlamEventListener * >	m_listeners
std::map< unsigned int, SlamEkfInfo >::iterator	browseFeaturesIt
kernel::DataLogger *	m_eventsLogger
unsigned int	m_frameIndex
std::list < MultiMapEventListener * >	m_eventListners

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Constructor & Destructor Documentation

jafar::slammm::MultiMapsSlam::MultiMapsSlam	(	std::size_t	sizeMax_,
		MapsPoseManager *	_mapsPoseManager,
		StartNewMapStrategy *	_startNewMapStrategy,
		MergeMapsStrategy *	_mergeMapsStrategy,
		slam::MapManagerFactory *	mapManagerFactory = 0,
		int	firstMapId = 0
	)

Parameters:

sizeMax_

the maximum size of the state of a local map

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Member Function Documentation

virtual void jafar::slammm::MultiMapsSlam::addMembersToLog

(

kernel::DataLogger &

log

)

const [virtual]

Once the loggable has been added, this method is called so that the loggable can add some of its members to the log.

Implements this method calling addLoggable(). By default this method is empty.

Reimplemented from jafar::kernel::DataLoggable.

slam::SlamEkf* jafar::slammm::MultiMapsSlam::getGlobalMap

(

)

const

Merge all maps in one global map, using a similar method as Divide & Conquer.

The maps of MultiMapsSlam are not touched and remain valid after a call to this function.

slam::SlamEkf* jafar::slammm::MultiMapsSlam::getMap	(	unsigned int	_mapId,
		unsigned int	_robotId = 0
	)

Returns:

a map

void jafar::slammm::MultiMapsSlam::getWorldFeatureState	(	jblas::vec &	_result,
		unsigned int	_featureId,
		unsigned int	_currentMapId
	)		const

Returns:

the state of the feature in the world reference.

void jafar::slammm::MultiMapsSlam::getWorldFeatureState	(	jblas::vec &	_result,
		jblas::sym_mat &	_resultCov,
		unsigned int	_featureId,
		unsigned int	_currentMapId
	)		const

Returns:

the covariance of the feature in the world reference

jafar::geom::T3DEuler jafar::slammm::MultiMapsSlam::getWorldToMapTransformation

(

unsigned int

_mapId

)

const

Get the transformation from the World frame to a given map.

Parameters:

_mapiId

void jafar::slammm::MultiMapsSlam::gpsFix

(

const std::map< unsigned int, geom::T3DEuler > &

worldToRobots

)

Call this function when the position of multiple robots is known.

This function will start a new map for each robot.

void jafar::slammm::MultiMapsSlam::gpsFix	(	unsigned int	_robotId,
		const geom::T3DEuler &	worldToRobot
	)

Convenient function that will execute a GPS fix event for a single robot.

This function will start a new map for each robot.

unsigned int jafar::slammm::MultiMapsSlam::mapId

(

slam::SlamEkf *

)

const

Returns:

the identifier of a map

void jafar::slammm::MultiMapsSlam::rendezVous	(	unsigned int	_firstRobotId,
		unsigned int	_secondRobotId,
		const geom::T3DEuler &	firstToSecond
	)

Call this function when a rendez-vous event happen between two robots and that the tranformation between the two robots is known.

This function will start a new map for each robot.

virtual void jafar::slammm::MultiMapsSlam::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::MultiMapsSlam::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/MultiMapManager.hpp