ExampleSlamInterface Class Reference

example for an interface to a SLAM algorithm More...

#include <example_slam_interface.h>

Inheritance diagram for ExampleSlamInterface:

Collaboration diagram for ExampleSlamInterface:

Public Member Functions
	ExampleSlamInterface ()
bool	addNode (const std::string &tag, int id, int dimension, const std::vector< double > &values)
bool	addEdge (const std::string &tag, int id, int dimension, int v1, int v2, const std::vector< double > &measurement, const std::vector< double > &information)
bool	fixNode (const std::vector< int > &nodes)
bool	queryState (const std::vector< int > &nodes)
bool	solveState ()

Protected Attributes
std::map< int, std::pair< std::string, std::vector< double > > >	_vertices
	the original value of the input (actually not needed if a real SLAM engine is running) More...

Detailed Description

example for an interface to a SLAM algorithm

Example for an interface to a SLAM algorithm. You may modify this class to fit your needs. The example class does not actually perform any optimization, it just keeps the input values and outputs the same values if asked. See the documentation of SlamParser::AbstractSlamInterface for details.

Definition at line 43 of file example_slam_interface.h.

Constructor & Destructor Documentation

ExampleSlamInterface::ExampleSlamInterface

(

)

Definition at line 32 of file example_slam_interface.cpp.

{
}

Member Function Documentation

bool ExampleSlamInterface::addEdge ( const std::string &  tag, int  id, int  dimension, int  v1, int  v2, const std::vector< double > &  measurement, const std::vector< double > &  information  )

virtual

adding an edge to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the edge.
dimension	the dimension of the edge.
v1	the unique id of the edge of the first vertex
v2	the unique id of the edge of the second vertex
measurement	the measurement of the constraint
information	the information matrix (inverse of the covariance) representing the uncertainty of the measurement (row-major upper triangular and diagonal)

Returns

true, if adding was successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 55 of file example_slam_interface.cpp.

{
  cerr << "ADDING EDGE " << tag << " id=" << id << " dim=" << dimension
    << " (" << v1 << " <-> " << v2 << ")" << " measurement=";
  for (size_t i = 0; i < measurement.size(); ++i)
    cerr << " " << measurement[i]; 
  cerr << " information=";
  for (size_t i = 0; i < information.size(); ++i)
    cerr << " " << information[i]; 
  cerr << endl;
  return true;
}

bool ExampleSlamInterface::addNode ( const std::string &  tag, int  id, int  dimension, const std::vector< double > &  values  )

virtual

adding a node to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the node.
dimension	the dimension of the node.
values	the pose of the node, may be empty (i.e., the engine should initialize the node itself)

Returns

true, if adding was successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 36 of file example_slam_interface.cpp.

{
  cerr << "ADDING NODE " << tag << " id=" << id << " dim=" << dimension;
  if (values.size()) {
    cerr << "\tpose=";
    for (size_t i = 0; i < values.size(); ++i)
      cerr << " " << values[i]; 
  }
  cerr << endl;

  // store the values
  if (values.size() == 0)
    _vertices[id] = make_pair(tag, std::vector<double>(dimension));
  else
    _vertices[id] = make_pair(tag, values);

  return true;
}

bool ExampleSlamInterface::fixNode ( const std::vector< int > &  nodes )

virtual

set some nodes to a fixed position

Parameters

nodes

the list of vertex IDs to fix

Returns

true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 68 of file example_slam_interface.cpp.

{
  cerr << "FIXING NODE";
  for (size_t i = 0; i < nodes.size(); ++i)
    cerr << " " << nodes[i]; 
  cerr << endl;
  return true;
}

bool ExampleSlamInterface::queryState ( const std::vector< int > &  nodes )

virtual

Ask the SLAM engine to print the current estimate of the variables

Parameters

nodes

the list of vertex IDs to print, if empty print all variables

Returns

true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 77 of file example_slam_interface.cpp.

References values.

{
  cerr << "QUERY STATE";
  for (size_t i = 0; i < nodes.size(); ++i)
    cerr << " " << nodes[i]; 
  cerr << endl;

  // actually output the values to the evaluator
  // If a SLAM algorithm is running we would need to copy its estimate
  if (nodes.size() == 0) {
    // print all nodes
    for (std::map<int, std::pair<std::string, std::vector<double> > >::const_iterator it = _vertices.begin();
        it != _vertices.end(); ++it) {
      cout << it->second.first << " " << it->first;
      const vector<double>& values = it->second.second;
      for (size_t j = 0; j < values.size(); ++j)
        cout << " " << values[j];
      cout << endl;
    }
  } else {
    for (size_t i = 0; i < nodes.size(); ++i) {
      std::map<int, std::pair<std::string, std::vector<double> > >::const_iterator it = _vertices.find(nodes[i]);
      if (it != _vertices.end()) {
        cout << it->second.first << " " << it->first;
        const vector<double>& values = it->second.second;
        for (size_t j = 0; j < values.size(); ++j)
          cout << " " << values[j];
        cout << endl;
      }
    }
  }

  return true;
}

bool ExampleSlamInterface::solveState ( )

virtual

ask the engine to solve

Returns

true, if successful

Implements SlamParser::AbstractSlamInterface.

Definition at line 112 of file example_slam_interface.cpp.

{
  cerr << "SOLVE STATE" << endl;
  return true;
}

Member Data Documentation

std::map<int, std::pair<std::string, std::vector<double> > > ExampleSlamInterface::_vertices

protected

the original value of the input (actually not needed if a real SLAM engine is running)

Definition at line 60 of file example_slam_interface.h.

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The documentation for this class was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/examples/interactive_slam/slam_parser/example/example_slam_interface.h
• /home/xuezhisd/CLionProjects/g2o/g2o/examples/interactive_slam/slam_parser/example/example_slam_interface.cpp