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mrpt::hmtslam::CHMTSLAM Class Reference


Detailed Description

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.

See also:
CHierarchicalMHMap

Definition at line 97 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM:
Inheritance graph
[legend]

List of all members.

Classes

struct  TMessageLSLAMfromAA
 Message definition:

  • From: LSLAM
  • To: AA
  • Meaning: Reconsider the graph partition for the given LMH.
More...
struct  TMessageLSLAMfromTBI
 Message definition:

  • From: TBI
  • To: LSLAM
  • Meaning:
More...
struct  TMessageLSLAMtoTBI
 Message definition:

  • From: LSLAM
  • To: TBI
  • Meaning: One or more areas are to be considered by the TBI engines.
More...
struct  TOptions
 A variety of options and configuration params (private, use loadOptions). More...

Public Member Functions

 CHMTSLAM ()
 Default constructor.
 CHMTSLAM (const CHMTSLAM &o)
const CHMTSLAMoperator= (const CHMTSLAM &o)
virtual ~CHMTSLAM ()
 Destructor.
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.
void generateLogFiles (unsigned int nIteration)
 Called from LSLAM thread when log files must be created.
void getAs3DScene (COpenGLScene &outScene)
 Gets a 3D representation of the current state of the whole mapping framework.
High-level map management
void loadOptions (const std::string &configFile)
 Loads the options from a config file.
void loadOptions (const mrpt::utils::CConfigFileBase &cfgSource)
 Loads the options from a config source.
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.
bool saveState (CStream &out) const
 Save the state of the whole HMT-SLAM framework to some binary stream (e.g.
bool loadState (CStream &in)
 Load the state of the whole HMT-SLAM framework from some binary stream (e.g.

Public Attributes

The important data.
CHierarchicalMHMap m_map
 The hiearchical, multi-hypothesis graph-based map.
aligned_containers
< THypothesisID,
CLocalMetricHypothesis >
::map_t 
m_LMHs
 The list of LMHs at each instant.

Protected Member Functions

HMT-SLAM sub-processes.
void LSLAM_process_message (const CMessage &msg)
 Auxiliary method within thread_LSLAM.
void LSLAM_process_message_from_AA (const TMessageLSLAMfromAA &myMsg)
 No critical section locks are assumed at the entrance of this method.
void LSLAM_process_message_from_TBI (const TMessageLSLAMfromTBI &myMsg)
 No critical section locks are assumed at the entrance of this method.
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.

Static Protected Member Functions

static TMessageLSLAMfromAAPtr areaAbstraction (CLocalMetricHypothesis *LMH, const TPoseIDList &newPoseIDs)
 The Area Abstraction (AA) method, invoked from LSLAM.
static TMessageLSLAMfromTBIPtr TBI_main_method (CLocalMetricHypothesis *LMH, const CHMHMapNode::TNodeID &areaID)
 The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.
static std::string generateUniqueAreaLabel ()
 Generates a new and unique area textual label (currently this generates "0","1",...)
static TPoseID generatePoseID ()
 Generates a new and unique pose ID.
static THypothesisID generateHypothesisID ()
 Generates a new and unique hypothesis ID.

Protected Attributes

bool m_terminateThreads
 Termination flag for signaling all threads to terminate.
bool m_terminationFlag_LSLAM
 Threads termination flags:
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.
CLSLAMAlgorithmBasem_LSLAM_method
 An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".

Static Protected Attributes

static int64_t m_nextAreaLabel
static TPoseID m_nextPoseID
static THypothesisID m_nextHypID

Friends

class HMTSLAM_IMPEXP CLocalMetricHypothesis
class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER
class HMTSLAM_IMPEXP CTopLCDetector_GridMatching
class HMTSLAM_IMPEXP 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.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
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.

Related to the input queue:

enum  TLSlamMethod { lsmRBPF_2DLASER = 1 }
std::queue< CSerializablePtrm_inputQueue
 The queue of pending actions/observations supplied by the user waiting for being processed.
synch::CCriticalSection m_inputQueue_cs
 Critical section for accessing m_inputQueue.
synch::CCriticalSection m_map_cs
 Critical section for accessing m_map.
synch::CCriticalSection m_LMHs_cs
 Critical section for accessing m_LMHs.
void clearInputQueue ()
 Empty the input queue.
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)
size_t inputQueueSize ()
 Returns the number of objects waiting for processing in the input queue.
void pushAction (const CActionCollectionPtr &acts)
 Here the user can enter an action into the system (will go to the SLAM process).
void pushObservations (const CSensoryFramePtr &sf)
 Here the user can enter observations into the system (will go to the SLAM process).
void pushObservation (const CObservationPtr &obs)
 Here the user can enter an observation into the system (will go to the SLAM process).
CSerializablePtr getNextObjectFromInputQueue ()
 Used from the LSLAM thread to retrieve the next object from the queue.

Threads stuff

TThreadHandle m_hThread_LSLAM
 Threads handles.
TThreadHandle m_hThread_TBI
TThreadHandle m_hThread_3D_viewer
void thread_LSLAM ()
 The function for the "Local SLAM" thread.
void thread_TBI ()
 The function for the "TBI" thread.
void thread_3D_viewer ()
 The function for the "3D viewer" thread.

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".
synch::CCriticalSection m_topLCdets_cs
 The critical section for accessing m_topLCdets.
void registerLoopClosureDetector (const std::string &name, CTopLCDetectorBase *(*ptrCreateObject)(CHMTSLAM *))
 Must be invoked before calling initializeEmptyMap, so LC objects can be created.
CTopLCDetectorBaseloopClosureDetector_factory (const std::string &name)
 The class factory for topological loop closure detectors.

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 105 of file CHMTSLAM.h.

Definition at line 323 of file CHMTSLAM.h.

Definition at line 135 of file CHMTSLAM.h.

Definition at line 179 of file CHMTSLAM.h.

Definition at line 147 of file CHMTSLAM.h.


Member Enumeration Documentation

Enumerator:
lsmRBPF_2DLASER 

Definition at line 241 of file CHMTSLAM.h.


Constructor & Destructor Documentation

mrpt::hmtslam::CHMTSLAM::CHMTSLAM ( )

Default constructor.

Parameters:
debug_out_streamIf debug output messages should be redirected to any other stream apart from std::cout
mrpt::hmtslam::CHMTSLAM::CHMTSLAM ( const CHMTSLAM o) [inline]

Definition at line 381 of file CHMTSLAM.h.

virtual mrpt::hmtslam::CHMTSLAM::~CHMTSLAM ( ) [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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.

static TMessageLSLAMfromAAPtr mrpt::hmtslam::CHMTSLAM::areaAbstraction ( CLocalMetricHypothesis LMH,
const TPoseIDList newPoseIDs 
) [static, protected]

The Area Abstraction (AA) method, invoked from LSLAM.

Parameters:
LMH(IN) The LMH which to this query applies.
newPoseIDs(IN) The new poseIDs to be added to the graph partitioner.
Returns:
A structure with all return data. Memory to be freed by user.
Note:
The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).
void mrpt::hmtslam::CHMTSLAM::clearInputQueue ( )

Empty the input queue.

static CHMTSLAMPtr mrpt::hmtslam::CHMTSLAM::Create ( ) [static]
static mrpt::utils::CObject* mrpt::hmtslam::CHMTSLAM::CreateObject ( ) [static]
virtual mrpt::utils::CObject* mrpt::hmtslam::CHMTSLAM::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

static THypothesisID mrpt::hmtslam::CHMTSLAM::generateHypothesisID ( ) [static, protected]

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.

static TPoseID mrpt::hmtslam::CHMTSLAM::generatePoseID ( ) [static, protected]

Generates a new and unique pose ID.

static std::string mrpt::hmtslam::CHMTSLAM::generateUniqueAreaLabel ( ) [static, protected]

Generates a new and unique area textual label (currently this generates "0","1",...)

void mrpt::hmtslam::CHMTSLAM::getAs3DScene ( COpenGLScene outScene)

Gets a 3D representation of the current state of the whole mapping framework.

CSerializablePtr mrpt::hmtslam::CHMTSLAM::getNextObjectFromInputQueue ( ) [protected]

Used from the LSLAM thread to retrieve the next object from the queue.

Returns:
The object, or NULL if empty.
virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMTSLAM::GetRuntimeClass ( ) const [virtual]

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.

See also:
pushAction,pushObservations, isInputQueueEmpty
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)

See also:
pushAction,pushObservations, inputQueueSize
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 ( CStream in)

Load the state of the whole HMT-SLAM framework from some binary stream (e.g.

a file).

Returns:
true if everything goes OK.
See also:
saveState
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

Exceptions:
std::exceptionOn unknown name.
void mrpt::hmtslam::CHMTSLAM::LSLAM_process_message ( const CMessage msg) [protected]

Auxiliary method within thread_LSLAM.

void mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA ( const TMessageLSLAMfromAA myMsg) [protected]

No critical section locks are assumed at the entrance of this method.

void mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI ( const TMessageLSLAMfromTBI myMsg) [protected]

No critical section locks are assumed at the entrance of this method.

const CHMTSLAM& mrpt::hmtslam::CHMTSLAM::operator= ( const CHMTSLAM o) [inline]

Definition at line 382 of file CHMTSLAM.h.

void mrpt::hmtslam::CHMTSLAM::perform_TLC ( CLocalMetricHypothesis LMH,
const CHMHMapNode::TNodeID  areaInLMH,
const CHMHMapNode::TNodeID  areaLoopClosure,
const mrpt::poses::CPose3DPDFGaussian pose1wrt2 
) [protected]

Topological Loop Closure: Performs all the required operations to close a loop between two areas which have been determined to be the same.

void mrpt::hmtslam::CHMTSLAM::pushAction ( const 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.

See also:
pushObservations,pushObservation
void mrpt::hmtslam::CHMTSLAM::pushObservation ( const 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.

See also:
pushAction,pushObservation
void mrpt::hmtslam::CHMTSLAM::pushObservations ( const 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.

See also:
pushAction,pushObservation
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 ( CStream out) const

Save the state of the whole HMT-SLAM framework to some binary stream (e.g.

a file).

Returns:
true if everything goes OK.
See also:
loadState
static TMessageLSLAMfromTBIPtr mrpt::hmtslam::CHMTSLAM::TBI_main_method ( CLocalMetricHypothesis LMH,
const CHMHMapNode::TNodeID areaID 
) [static, protected]

The entry point for Topological Bayesian Inference (TBI) engines, invoked from LSLAM.

Parameters:
LMH(IN) The LMH which to this query applies.
areaID(IN) The area ID to consider for potential loop-closures.
Note:
The critical section for LMH must be locked BEFORE calling this method (it does NOT lock any critical section).
void mrpt::hmtslam::CHMTSLAM::thread_3D_viewer ( ) [protected]

The function for the "3D viewer" thread.

void mrpt::hmtslam::CHMTSLAM::thread_LSLAM ( ) [protected]

The function for the "Local SLAM" thread.

void mrpt::hmtslam::CHMTSLAM::thread_TBI ( ) [protected]

The function for the "TBI" thread.


Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CLocalMetricHypothesis [friend]

Definition at line 99 of file CHMTSLAM.h.

friend class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER [friend]

Definition at line 100 of file CHMTSLAM.h.

friend class HMTSLAM_IMPEXP CTopLCDetector_FabMap [friend]

Definition at line 102 of file CHMTSLAM.h.

friend class HMTSLAM_IMPEXP CTopLCDetector_GridMatching [friend]

Definition at line 101 of file CHMTSLAM.h.


Member Data Documentation

Definition at line 105 of file CHMTSLAM.h.

Definition at line 105 of file CHMTSLAM.h.

Definition at line 105 of file CHMTSLAM.h.

Definition at line 278 of file CHMTSLAM.h.

Threads handles.

Definition at line 278 of file CHMTSLAM.h.

Definition at line 278 of file CHMTSLAM.h.

The queue of pending actions/observations supplied by the user waiting for being processed.

Definition at line 253 of file CHMTSLAM.h.

Critical section for accessing m_inputQueue.

Definition at line 256 of file CHMTSLAM.h.

The list of LMHs at each instant.

Definition at line 420 of file CHMTSLAM.h.

Critical section for accessing m_LMHs.

Definition at line 261 of file CHMTSLAM.h.

An instance of a local SLAM method, to be applied to each LMH - initialized by "initializeEmptyMap" or "loadState".

Definition at line 315 of file CHMTSLAM.h.

LSLAM thread input queue, messages of type CHMTSLAM::TMessageLSLAMfromAA.

Definition at line 182 of file CHMTSLAM.h.

The hiearchical, multi-hypothesis graph-based map.

Definition at line 419 of file CHMTSLAM.h.

Critical section for accessing m_map.

Definition at line 259 of file CHMTSLAM.h.

int64_t mrpt::hmtslam::CHMTSLAM::m_nextAreaLabel [static, protected]

Definition at line 370 of file CHMTSLAM.h.

Definition at line 372 of file CHMTSLAM.h.

Definition at line 371 of file CHMTSLAM.h.

Definition at line 325 of file CHMTSLAM.h.

Termination flag for signaling all threads to terminate.

Definition at line 353 of file CHMTSLAM.h.

Definition at line 357 of file CHMTSLAM.h.

Threads termination flags:

Definition at line 357 of file CHMTSLAM.h.

Definition at line 357 of file CHMTSLAM.h.

The list of LC modules in operation - initialized by "initializeEmptyMap" or "loadState".

Definition at line 328 of file CHMTSLAM.h.

The critical section for accessing m_topLCdets.

Definition at line 331 of file CHMTSLAM.h.




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