An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).
The main entry points for a user are pushAction() and pushObservations(). Several parameters can be modified through m_options.
The mathematical models of this approach have been reported in:
More information in the wiki page: http://www.mrpt.org/HMT-SLAM . A complete working application can be found in "MRPT/apps/hmt-slam".
The complete state of the SLAM framework is serializable, so it can be saved and restore to/from a binary dump. This class implements mrpt::utils::CSerializable, so it can be saved with "stream << slam_object;" and restored with "stream >> slam_object;". Alternatively, the methods CHMTSLAM::saveState and CHMTSLAM::loadState can be invoked, which in turn call internally to the CSerializable interface.
Definition at line 59 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Classes | |
struct | TMessageLSLAMfromAA |
Message definition: More... | |
struct | TMessageLSLAMfromTBI |
Message definition: More... | |
struct | TMessageLSLAMtoTBI |
Message definition: More... | |
struct | TOptions |
A variety of options and configuration params (private, use loadOptions). More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CHMTSLAM () | |
Default constructor. More... | |
CHMTSLAM (const CHMTSLAM &) | |
const CHMTSLAM & | operator= (const CHMTSLAM &) |
virtual | ~CHMTSLAM () |
Destructor. More... | |
bool | abortedDueToErrors () |
Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on. More... | |
void | generateLogFiles (unsigned int nIteration) |
Called from LSLAM thread when log files must be created. More... | |
void | getAs3DScene (mrpt::opengl::COpenGLScene &outScene) |
Gets a 3D representation of the current state of the whole mapping framework. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
High-level map management | |
void | loadOptions (const std::string &configFile) |
Loads the options from a config file. More... | |
void | loadOptions (const mrpt::utils::CConfigFileBase &cfgSource) |
Loads the options from a config source. More... | |
void | initializeEmptyMap () |
Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions. More... | |
bool | saveState (mrpt::utils::CStream &out) const |
Save the state of the whole HMT-SLAM framework to some binary stream (e.g. More... | |
bool | loadState (mrpt::utils::CStream &in) |
Load the state of the whole HMT-SLAM framework from some binary stream (e.g. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More... | |
Public Attributes | |
The important data. | |
CHierarchicalMHMap | m_map |
The hiearchical, multi-hypothesis graph-based map. More... | |
aligned_containers< THypothesisID, CLocalMetricHypothesis >::map_t | m_LMHs |
The list of LMHs at each instant. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
HMT-SLAM sub-processes. | |
void | LSLAM_process_message (const mrpt::utils::CMessage &msg) |
Auxiliary method within thread_LSLAM. More... | |
void | LSLAM_process_message_from_AA (const TMessageLSLAMfromAA &myMsg) |
No critical section locks are assumed at the entrance of this method. More... | |
void | LSLAM_process_message_from_TBI (const TMessageLSLAMfromTBI &myMsg) |
No critical section locks are assumed at the entrance of this method. More... | |
void | perform_TLC (CLocalMetricHypothesis &LMH, const CHMHMapNode::TNodeID areaInLMH, const CHMHMapNode::TNodeID areaLoopClosure, const mrpt::poses::CPose3DPDFGaussian &pose1wrt2) |
Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same. More... | |
Static Protected Member Functions | |
static TMessageLSLAMfromAAPtr | areaAbstraction (CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs) |
The Area Abstraction (AA) method, invoked from LSLAM. More... | |
static TMessageLSLAMfromTBIPtr | TBI_main_method (CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID) |
The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM. More... | |
static std::string | generateUniqueAreaLabel () |
Generates a new and unique area textual label (currently this generates "0","1",...) More... | |
static TPoseID | generatePoseID () |
Generates a new and unique pose ID. More... | |
static THypothesisID | generateHypothesisID () |
Generates a new and unique hypothesis ID. More... | |
Protected Attributes | |
bool | m_terminateThreads |
Termination flag for signaling all threads to terminate. More... | |
bool | m_terminationFlag_LSLAM |
Threads termination flags: More... | |
bool | m_terminationFlag_TBI |
bool | m_terminationFlag_3D_viewer |
mrpt::hmtslam::CHMTSLAM::TOptions | m_options |
The different SLAM algorithms that can be invoked from the LSLAM thread. | |
CLSLAMAlgorithmBase * | m_LSLAM_method |
An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState". More... | |
Static Protected Attributes | |
static int64_t | m_nextAreaLabel |
static TPoseID | m_nextPoseID |
static THypothesisID | m_nextHypID |
Friends | |
class | CLocalMetricHypothesis |
class | CLSLAM_RBPF_2DLASER |
class | CTopLCDetector_GridMatching |
class | CTopLCDetector_FabMap |
RTTI stuff | |
typedef CHMTSLAMPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CHMTSLAM |
static mrpt::utils::TRuntimeClassId | classCHMTSLAM |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CHMTSLAMPtr | Create () |
Inter-thread communication queues: | |
typedef stlplus::smart_ptr< TMessageLSLAMfromAA > | TMessageLSLAMfromAAPtr |
typedef stlplus::smart_ptr< TMessageLSLAMtoTBI > | TMessageLSLAMtoTBIPtr |
typedef stlplus::smart_ptr< TMessageLSLAMfromTBI > | TMessageLSLAMfromTBIPtr |
utils::CMessageQueue | m_LSLAM_queue |
LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA. More... | |
Related to the input queue: | |
enum | TLSlamMethod { lsmRBPF_2DLASER = 1 } |
std::queue< mrpt::utils::CSerializablePtr > | m_inputQueue |
The queue of pending actions/observations supplied by the user waiting for being processed. More... | |
synch::CCriticalSection | m_inputQueue_cs |
Critical section for accessing m_inputQueue. More... | |
synch::CCriticalSection | m_map_cs |
Critical section for accessing m_map. More... | |
synch::CCriticalSection | m_LMHs_cs |
Critical section for accessing m_LMHs. More... | |
void | clearInputQueue () |
Empty the input queue. More... | |
bool | isInputQueueEmpty () |
Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions) More... | |
size_t | inputQueueSize () |
Returns the number of objects waiting for processing in the input queue. More... | |
void | pushAction (const mrpt::obs::CActionCollectionPtr &acts) |
Here the user can enter an action into the system (will go to the SLAM process). More... | |
void | pushObservations (const mrpt::obs::CSensoryFramePtr &sf) |
Here the user can enter observations into the system (will go to the SLAM process). More... | |
void | pushObservation (const mrpt::obs::CObservationPtr &obs) |
Here the user can enter an observation into the system (will go to the SLAM process). More... | |
mrpt::utils::CSerializablePtr | getNextObjectFromInputQueue () |
Used from the LSLAM thread to retrieve the next object from the queue. More... | |
Threads stuff | |
mrpt::system::TThreadHandle | m_hThread_LSLAM |
Threads handles. More... | |
mrpt::system::TThreadHandle | m_hThread_TBI |
mrpt::system::TThreadHandle | m_hThread_3D_viewer |
void | thread_LSLAM () |
The function for the "Local SLAM" thread. More... | |
void | thread_TBI () |
The function for the "TBI" thread. More... | |
void | thread_3D_viewer () |
The function for the "3D viewer" thread. More... | |
The different Loop-Closure modules that are to be executed in the TBI thread. | |
typedef CTopLCDetectorBase *(* | TLopLCDetectorFactory) (CHMTSLAM *) |
std::map< std::string, TLopLCDetectorFactory > | m_registeredLCDetectors |
std::deque< CTopLCDetectorBase * > | m_topLCdets |
The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState". More... | |
synch::CCriticalSection | m_topLCdets_cs |
The critical section for accessing m_topLCdets. More... | |
void | registerLoopClosureDetector (const std::string &name, CTopLCDetectorBase *(*ptrCreateObject)(CHMTSLAM *)) |
Must be invoked before calling initializeEmptyMap, so LC objects can be created. More... | |
CTopLCDetectorBase * | loopClosureDetector_factory (const std::string &name) |
The class factory for topological loop closure detectors. More... | |
typedef CHMTSLAMPtr mrpt::hmtslam::CHMTSLAM::SmartPtr |
A typedef for the associated smart pointer
Definition at line 67 of file CHMTSLAM.h.
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Definition at line 283 of file CHMTSLAM.h.
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Definition at line 97 of file CHMTSLAM.h.
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Definition at line 141 of file CHMTSLAM.h.
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Definition at line 109 of file CHMTSLAM.h.
Enumerator | |
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lsmRBPF_2DLASER |
Definition at line 203 of file CHMTSLAM.h.
mrpt::hmtslam::CHMTSLAM::CHMTSLAM | ( | ) |
Default constructor.
debug_out_stream | If debug output messages should be redirected to any other stream apart from std::cout |
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Definition at line 341 of file CHMTSLAM.h.
References THROW_EXCEPTION.
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Destructor.
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bool mrpt::hmtslam::CHMTSLAM::abortedDueToErrors | ( | ) |
Return true if an exception has been caught in any thread leading to the end of the mapping application: no more actions/observations will be processed from now on.
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staticprotected |
The Area Abstraction (AA) method, invoked from LSLAM.
LMH | (IN) The LMH which to this query applies. |
newPoseIDs | (IN) The new poseIDs to be added to the graph partitioner. |
void mrpt::hmtslam::CHMTSLAM::clearInputQueue | ( | ) |
Empty the input queue.
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Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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Generates a new and unique hypothesis ID.
void mrpt::hmtslam::CHMTSLAM::generateLogFiles | ( | unsigned int | nIteration | ) |
Called from LSLAM thread when log files must be created.
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Generates a new and unique pose ID.
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Generates a new and unique area textual label (currently this generates "0","1",...)
void mrpt::hmtslam::CHMTSLAM::getAs3DScene | ( | mrpt::opengl::COpenGLScene & | outScene | ) |
Gets a 3D representation of the current state of the whole mapping framework.
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Used from the LSLAM thread to retrieve the next object from the queue.
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::hmtslam::CHMTSLAM::initializeEmptyMap | ( | ) |
Initializes the whole HMT-SLAM framework, reseting to an empty map (It also clears the logs directory) - this must be called AFTER loading the options with CHMTSLAM::loadOptions.
size_t mrpt::hmtslam::CHMTSLAM::inputQueueSize | ( | ) |
Returns the number of objects waiting for processing in the input queue.
bool mrpt::hmtslam::CHMTSLAM::isInputQueueEmpty | ( | ) |
Returns true if the input queue is empty (Note that the queue must not be empty to the user to enqueue more actions/observaitions)
void mrpt::hmtslam::CHMTSLAM::loadOptions | ( | const std::string & | configFile | ) |
Loads the options from a config file.
void mrpt::hmtslam::CHMTSLAM::loadOptions | ( | const mrpt::utils::CConfigFileBase & | cfgSource | ) |
Loads the options from a config source.
bool mrpt::hmtslam::CHMTSLAM::loadState | ( | mrpt::utils::CStream & | in | ) |
Load the state of the whole HMT-SLAM framework from some binary stream (e.g.
a file).
CTopLCDetectorBase* mrpt::hmtslam::CHMTSLAM::loopClosureDetector_factory | ( | const std::string & | name | ) |
The class factory for topological loop closure detectors.
Possible values are enumerated in TOptions::TLC_detectors
std::exception | On unknown name. |
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Auxiliary method within thread_LSLAM.
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No critical section locks are assumed at the entrance of this method.
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No critical section locks are assumed at the entrance of this method.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
Definition at line 342 of file CHMTSLAM.h.
References THROW_EXCEPTION.
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Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same.
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Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
void mrpt::hmtslam::CHMTSLAM::pushAction | ( | const mrpt::obs::CActionCollectionPtr & | acts | ) |
Here the user can enter an action into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
void mrpt::hmtslam::CHMTSLAM::pushObservation | ( | const mrpt::obs::CObservationPtr & | obs | ) |
Here the user can enter an observation into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
void mrpt::hmtslam::CHMTSLAM::pushObservations | ( | const mrpt::obs::CSensoryFramePtr & | sf | ) |
Here the user can enter observations into the system (will go to the SLAM process).
This class will delete the passed object when required, so DO NOT DELETE the passed object after calling this.
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Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
void mrpt::hmtslam::CHMTSLAM::registerLoopClosureDetector | ( | const std::string & | name, |
CTopLCDetectorBase *(*)(CHMTSLAM *) | ptrCreateObject | ||
) |
Must be invoked before calling initializeEmptyMap, so LC objects can be created.
bool mrpt::hmtslam::CHMTSLAM::saveState | ( | mrpt::utils::CStream & | out | ) | const |
Save the state of the whole HMT-SLAM framework to some binary stream (e.g.
a file).
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staticprotected |
The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.
LMH | (IN) The LMH which to this query applies. |
areaID | (IN) The area ID to consider for potential loop-closures. |
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The function for the "3D viewer" thread.
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The function for the "Local SLAM" thread.
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The function for the "TBI" thread.
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
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Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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Definition at line 61 of file CHMTSLAM.h.
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Definition at line 62 of file CHMTSLAM.h.
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Definition at line 64 of file CHMTSLAM.h.
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Definition at line 63 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 42 of file CSerializable.h.
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Definition at line 67 of file CHMTSLAM.h.
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Definition at line 240 of file CHMTSLAM.h.
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Threads handles.
Definition at line 240 of file CHMTSLAM.h.
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Definition at line 240 of file CHMTSLAM.h.
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The queue of pending actions/observations supplied by the user waiting for being processed.
Definition at line 215 of file CHMTSLAM.h.
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Critical section for accessing m_inputQueue.
Definition at line 218 of file CHMTSLAM.h.
aligned_containers<THypothesisID, CLocalMetricHypothesis>::map_t mrpt::hmtslam::CHMTSLAM::m_LMHs |
The list of LMHs at each instant.
Definition at line 380 of file CHMTSLAM.h.
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Critical section for accessing m_LMHs.
Definition at line 223 of file CHMTSLAM.h.
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An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".
Definition at line 275 of file CHMTSLAM.h.
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LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.
Definition at line 144 of file CHMTSLAM.h.
CHierarchicalMHMap mrpt::hmtslam::CHMTSLAM::m_map |
The hiearchical, multi-hypothesis graph-based map.
Definition at line 379 of file CHMTSLAM.h.
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Critical section for accessing m_map.
Definition at line 221 of file CHMTSLAM.h.
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Definition at line 330 of file CHMTSLAM.h.
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Definition at line 332 of file CHMTSLAM.h.
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Definition at line 331 of file CHMTSLAM.h.
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Definition at line 285 of file CHMTSLAM.h.
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Termination flag for signaling all threads to terminate.
Definition at line 313 of file CHMTSLAM.h.
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Definition at line 317 of file CHMTSLAM.h.
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Threads termination flags:
Definition at line 317 of file CHMTSLAM.h.
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Definition at line 317 of file CHMTSLAM.h.
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The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".
Definition at line 288 of file CHMTSLAM.h.
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The critical section for accessing m_topLCdets.
Definition at line 291 of file CHMTSLAM.h.
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