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 class provides simple critical sections functionality.
void enableMapUpdating(bool enable)
Enables or disables the map updating (default state is enabled)
This class stores a sequence of
pairs, thus a "metric map" can be t...
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
void leaveCriticalSection()
Leave critical section for map updating:
bool enableMapUpdating
Enable map updating, default is true.
Declares a class for storing a collection of robot actions.
void enterCriticalSection()
Enter critical section for map updating:
synch::CCriticalSection critZoneChangingMap
Critical zones.
void leave() const
Leave the calling thread is not the current owener of the critical section.
void enter() const
Enter.
Options for the algorithm.
mrpt::utils::CListOfClasses alwaysInsertByClass
A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
This virtual class is the base for SLAM implementations.
bool verbose
If true shows debug information in the console, default is true.
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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.
This class stores any customizable set of metric maps.
This base class provides a common printf-like method to send debug information to std::cout...