Detailed Description

Generic class for tracking the total number of edges for different tpes of edges and for storing visualization-related information for each type.

Definition at line 32 of file CEdgeCounter.h.

#include <mrpt/graphslam/misc/CEdgeCounter.h>

Public Types
typedef std::map< std::string, int >::iterator	iterator

typedef std::map< std::string, int >::const_iterator	const_iterator

Public Member Functions
	CEdgeCounter ()
	Constructor class. More...

	~CEdgeCounter ()
	Destructor class. More...

void	setWindowManagerPtr (mrpt::graphslam::CWindowManager *win_manager)
	Provide the instance with a CWindowManager. More...

void	setRemovedEdges (int removed_edges)
	State how many of the existing edges have been removed. More...

void	setLoopClosureEdgesManually (int num_loop_closures)
	Method for manually setting the number of loop closures registered so far. More...

int	getLoopClosureEdges () const
	Returns the edges that form loop closures in the current graph. More...

int	getTotalNumOfEdges () const
	Return the total amount of registered edges. More...

void	getTotalNumOfEdges (int *total_num_edges) const
	Return the total amount of registered edges. More...

int	getNumForEdgeType (const std::string &name) const
	Return the number of edges for the specified type. More...

void	getNumForEdgeType (const std::string &name, int *total_num)
	Return the number of edges for the specified type. More...

void	setEdgesManually (const std::string &name, int num_of_edges)
	Set number of a specific edge type manually. More...

void	addEdge (const std::string &name, bool is_loop_closure=false, bool is_new=false)
	Increment the number of edges for the specified type. More...

void	addEdgeType (const std::string &name)
	Explicitly register a new edge type. More...

void	clearAllEdges ()
	Reset the state of the CEdgeCounter instance. More...

void	dumpToConsole () const
	Dump a report of the registered, so far, edges to the console. More...

void	getAsString (std::string *str_out) const
	Fill the provided string with a detailed report of the registered, so far, edges. More...

std::string	getAsString () const
	Return a detailed report of the registered, so far, edges in a string representation. More...

void	setTextMessageParams (const std::map< std::string, double > &name_to_offset_y, const std::map< std::string, int > &name_to_text_index)
	Add the textMessage parameters to the object All the names in the given std::maps have to be already specified and added in the object via addEdge with is_new=true or addEdgeType. More...

void	setTextMessageParams (const std::map< std::string, double > &name_to_offset_y, const std::map< std::string, int > &name_to_text_index, const double &offset_y_total_edges, const int &text_index_total_edges, const double &offset_y_loop_closures, const int &text_index_loop_closures)
	Handle the extra visualization parameters for the total number of edges and for loop closures and then passes execution to the other setTextMessageParams function. More...

iterator	begin ()
	Instance Iterators. More...

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

Private Member Functions
void	initCEdgeCounter ()
	Initialization method to be called from the various Constructors. More...

void	updateTextMessages () const
	Update the given CDisplayWindow3D with the edges registered so far. More...

Private Attributes
mrpt::gui::CDisplayWindow3D *	m_win

mrpt::graphslam::CWindowManager *	m_win_manager

std::map< std::string, int >	m_name_to_edges_num
	Map edge name <=> num of edges. More...

int	m_num_loop_closures

int	m_unique_edges

std::map< std::string, double >	m_name_to_offset_y

std::map< std::string, int >	m_name_to_text_index

bool	m_has_read_textmessage_params

bool	m_display_total_edges

bool	m_display_loop_closures

int	m_offset_y_total_edges

int	m_offset_y_loop_closures

int	m_text_index_total_edges

int	m_text_index_loop_closures

Member Typedef Documentation

◆ const_iterator

typedef std::map<std::string, int>::const_iterator mrpt::graphslam::detail::CEdgeCounter::const_iterator

Definition at line 35 of file CEdgeCounter.h.

◆ iterator

typedef std::map<std::string, int>::iterator mrpt::graphslam::detail::CEdgeCounter::iterator

Definition at line 34 of file CEdgeCounter.h.

Constructor & Destructor Documentation

◆ CEdgeCounter()

mrpt::graphslam::detail::CEdgeCounter::CEdgeCounter ( )

Constructor class.

◆ ~CEdgeCounter()

mrpt::graphslam::detail::CEdgeCounter::~CEdgeCounter ( )

Destructor class.

Member Function Documentation

◆ addEdge()

void mrpt::graphslam::detail::CEdgeCounter::addEdge	(	const std::string &	name,
		bool	is_loop_closure = `false`,
		bool	is_new = `false`
	)

Increment the number of edges for the specified type.

Exceptions

std::exception If edge exists and is_new is True

See also: setEdgesManually

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep().

◆ addEdgeType()

void mrpt::graphslam::detail::CEdgeCounter::addEdgeType ( const std::string & name )

Explicitly register a new edge type.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

◆ begin() [1/2]

iterator mrpt::graphslam::detail::CEdgeCounter::begin ( )

inline

Instance Iterators.

Definition at line 143 of file CEdgeCounter.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraphSlamStats().

◆ begin() [2/2]

const_iterator mrpt::graphslam::detail::CEdgeCounter::begin ( ) const

inline

Definition at line 146 of file CEdgeCounter.h.

◆ clearAllEdges()

void mrpt::graphslam::detail::CEdgeCounter::clearAllEdges ( )

Reset the state of the CEdgeCounter instance.

◆ dumpToConsole()

void mrpt::graphslam::detail::CEdgeCounter::dumpToConsole ( ) const

Dump a report of the registered, so far, edges to the console.

See also: getAsString

◆ end() [1/2]

iterator mrpt::graphslam::detail::CEdgeCounter::end ( )

inline

Definition at line 149 of file CEdgeCounter.h.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraphSlamStats().

◆ end() [2/2]

const_iterator mrpt::graphslam::detail::CEdgeCounter::end ( ) const

inline

Definition at line 152 of file CEdgeCounter.h.

◆ getAsString() [1/2]

void mrpt::graphslam::detail::CEdgeCounter::getAsString ( std::string * str_out ) const

Fill the provided string with a detailed report of the registered, so far, edges.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getDescriptiveReport().

◆ getAsString() [2/2]

std::string mrpt::graphslam::detail::CEdgeCounter::getAsString ( ) const

Return a detailed report of the registered, so far, edges in a string representation.

◆ getLoopClosureEdges()

int mrpt::graphslam::detail::CEdgeCounter::getLoopClosureEdges ( ) const

Returns the edges that form loop closures in the current graph.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraphSlamStats().

◆ getNumForEdgeType() [1/2]

int mrpt::graphslam::detail::CEdgeCounter::getNumForEdgeType ( const std::string & name ) const

Return the number of edges for the specified type.

Exceptions

std::exception If edge is not found

See also: getTotalNumOfEdges

◆ getNumForEdgeType() [2/2]

void mrpt::graphslam::detail::CEdgeCounter::getNumForEdgeType	(	const std::string &	name,
		int *	total_num
	)

Return the number of edges for the specified type.

Exceptions

std::exception If edge is not found

See also: getTotalNumOfEdges

◆ getTotalNumOfEdges() [1/2]

int mrpt::graphslam::detail::CEdgeCounter::getTotalNumOfEdges ( ) const

Return the total amount of registered edges.

See also: getNumForEdgeType, getLoopClosureEdges

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::getGraphSlamStats().

◆ getTotalNumOfEdges() [2/2]

void mrpt::graphslam::detail::CEdgeCounter::getTotalNumOfEdges ( int * total_num_edges ) const

Return the total amount of registered edges.

See also: getNumForEdgeType, getLoopClosureEdges

◆ initCEdgeCounter()

void mrpt::graphslam::detail::CEdgeCounter::initCEdgeCounter ( )

private

Initialization method to be called from the various Constructors.

◆ setEdgesManually()

void mrpt::graphslam::detail::CEdgeCounter::setEdgesManually	(	const std::string &	name,
		int	num_of_edges
	)

Set number of a specific edge type manually.

Handy for not having to call addEdge multiple times in a row.

See also: addEdge

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep().

◆ setLoopClosureEdgesManually()

void mrpt::graphslam::detail::CEdgeCounter::setLoopClosureEdgesManually ( int num_loop_closures )

Method for manually setting the number of loop closures registered so far.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::_execGraphSlamStep().

◆ setRemovedEdges()

void mrpt::graphslam::detail::CEdgeCounter::setRemovedEdges ( int removed_edges )

State how many of the existing edges have been removed.

Method is to be called after CNetworkOfPoses::collapseDuplicatedEdges method has been executed.

◆ setTextMessageParams() [1/2]

void mrpt::graphslam::detail::CEdgeCounter::setTextMessageParams	(	const std::map< std::string, double > &	name_to_offset_y,
		const std::map< std::string, int > &	name_to_text_index
	)

Add the textMessage parameters to the object All the names in the given std::maps have to be already specified and added in the object via addEdge with is_new=true or addEdgeType.

Exceptions

std::exception If a name in the provided std::map doesn't already exist

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

◆ setTextMessageParams() [2/2]

void mrpt::graphslam::detail::CEdgeCounter::setTextMessageParams	(	const std::map< std::string, double > &	name_to_offset_y,
		const std::map< std::string, int > &	name_to_text_index,
		const double &	offset_y_total_edges,
		const int &	text_index_total_edges,
		const double &	offset_y_loop_closures,
		const int &	text_index_loop_closures
	)

Handle the extra visualization parameters for the total number of edges and for loop closures and then passes execution to the other setTextMessageParams function.

◆ setWindowManagerPtr()

void mrpt::graphslam::detail::CEdgeCounter::setWindowManagerPtr ( mrpt::graphslam::CWindowManager * win_manager )

Provide the instance with a CWindowManager.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

◆ updateTextMessages()

void mrpt::graphslam::detail::CEdgeCounter::updateTextMessages ( ) const

private

Update the given CDisplayWindow3D with the edges registered so far.

Member Data Documentation

◆ m_display_loop_closures

bool mrpt::graphslam::detail::CEdgeCounter::m_display_loop_closures

private

Definition at line 184 of file CEdgeCounter.h.

◆ m_display_total_edges

bool mrpt::graphslam::detail::CEdgeCounter::m_display_total_edges

private

Definition at line 184 of file CEdgeCounter.h.

◆ m_has_read_textmessage_params

bool mrpt::graphslam::detail::CEdgeCounter::m_has_read_textmessage_params

private

Definition at line 181 of file CEdgeCounter.h.

◆ m_name_to_edges_num

std::map<std::string, int> mrpt::graphslam::detail::CEdgeCounter::m_name_to_edges_num

private

Map edge name <=> num of edges.

Tracking number of edges

Definition at line 173 of file CEdgeCounter.h.

◆ m_name_to_offset_y

std::map<std::string, double> mrpt::graphslam::detail::CEdgeCounter::m_name_to_offset_y

private

Definition at line 178 of file CEdgeCounter.h.

◆ m_name_to_text_index

std::map<std::string, int> mrpt::graphslam::detail::CEdgeCounter::m_name_to_text_index

private

Definition at line 179 of file CEdgeCounter.h.

◆ m_num_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_num_loop_closures

private

Definition at line 173 of file CEdgeCounter.h.

◆ m_offset_y_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_offset_y_loop_closures

private

Definition at line 185 of file CEdgeCounter.h.

◆ m_offset_y_total_edges

int mrpt::graphslam::detail::CEdgeCounter::m_offset_y_total_edges

private

Definition at line 185 of file CEdgeCounter.h.

◆ m_text_index_loop_closures

int mrpt::graphslam::detail::CEdgeCounter::m_text_index_loop_closures

private

Definition at line 186 of file CEdgeCounter.h.

◆ m_text_index_total_edges

int mrpt::graphslam::detail::CEdgeCounter::m_text_index_total_edges

private

Definition at line 186 of file CEdgeCounter.h.

◆ m_unique_edges

int mrpt::graphslam::detail::CEdgeCounter::m_unique_edges

private

Definition at line 175 of file CEdgeCounter.h.

◆ m_win

mrpt::gui::CDisplayWindow3D* mrpt::graphslam::detail::CEdgeCounter::m_win

private

Definition at line 166 of file CEdgeCounter.h.

◆ m_win_manager

mrpt::graphslam::CWindowManager* mrpt::graphslam::detail::CEdgeCounter::m_win_manager

private

Definition at line 167 of file CEdgeCounter.h.

Detailed Description

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ CEdgeCounter()

◆ ~CEdgeCounter()

Member Function Documentation

◆ addEdge()

◆ addEdgeType()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clearAllEdges()

◆ dumpToConsole()

◆ end() [1/2]

◆ end() [2/2]

◆ getAsString() [1/2]

◆ getAsString() [2/2]

◆ getLoopClosureEdges()

◆ getNumForEdgeType() [1/2]

◆ getNumForEdgeType() [2/2]

◆ getTotalNumOfEdges() [1/2]

◆ getTotalNumOfEdges() [2/2]

◆ initCEdgeCounter()

◆ setEdgesManually()

◆ setLoopClosureEdgesManually()

◆ setRemovedEdges()

◆ setTextMessageParams() [1/2]

◆ setTextMessageParams() [2/2]

◆ setWindowManagerPtr()

◆ updateTextMessages()

Member Data Documentation

◆ m_display_loop_closures

◆ m_display_total_edges

◆ m_has_read_textmessage_params

◆ m_name_to_edges_num

◆ m_name_to_offset_y

◆ m_name_to_text_index

◆ m_num_loop_closures

◆ m_offset_y_loop_closures

◆ m_offset_y_total_edges

◆ m_text_index_loop_closures

◆ m_text_index_total_edges

◆ m_unique_edges

◆ m_win

◆ m_win_manager