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9 #ifndef CMetricMapBuilder_H
10 #define CMetricMapBuilder_H
59 virtual void initialize(
65 virtual mrpt::poses::CPose3DPDFPtr getCurrentPoseEstimation()
const = 0;
77 virtual unsigned int getCurrentlyBuiltMapSize() = 0;
86 virtual void saveCurrentEstimationToImage(
const std::string &file,
bool formatEMF_BMP =
true) = 0;
97 options.enableMapUpdating = enable;
101 void loadCurrentMapFromFile(
const std::string &fileName);
104 void saveCurrentMapToFile(
const std::string &fileName,
bool compressGZ=
true)
const;
110 enableMapUpdating(true),
111 debugForceInsertion(false),
112 alwaysInsertByClass()
This base class provides a common printf-like method to send debug information to std::cout,...
bool verbose
If true shows debug information in the console, default is true.
A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the...
bool debugForceInsertion
Always insert into map. Default is false: detect if necesary.
void leaveCriticalSection()
Leave critical section for map updating:
Declares a class for storing a collection of robot actions.
bool enableMapUpdating
Enable map updating, default is true.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void enableMapUpdating(bool enable)
Enables or disables the map updating (default state is enabled)
void enterCriticalSection()
Enter critical section for map updating:
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
This class provides simple critical sections functionality.
This class stores any customizable set of metric maps.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
mrpt::utils::CListOfClasses alwaysInsertByClass
A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in...
This virtual class is the base for SLAM implementations.
Options for the algorithm.
synch::CCriticalSection critZoneChangingMap
Critical zones.
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