Public Member Functions
def	__init__ (self, node, params)

def	check_neighbors_in_range (self)

def	local_robot_is_broker (self)

def	select_from_which_kf_to_send (self, latest_local_id)

def	select_from_which_match_to_send (self, latest_local_match_idx)

def	useless_descriptors (self, last_kf_id)

def	useless_matches (self, last_match_id)

def	update_received_kf_id (self, other_robot_id, kf_id)

def	get_unknown_range (self, descriptors)

def	get_current_neighbors_callback (self, msg)

Public Attributes
	node

	params

	robot_id

	max_nb_robots

	neighbors_monitors

	subscriber

	neighbors_publisher

Detailed Description

Manage neighbors to keep track of which other robots are in communication range

Definition at line 8 of file neighbors_manager.py.

Constructor & Destructor Documentation

◆ init()

def cslam.neighbors_manager.NeighborManager.__init__	(	self,
		node,
		params
	)

Definition at line 11 of file neighbors_manager.py.

Member Function Documentation

◆ check_neighbors_in_range()

def cslam.neighbors_manager.NeighborManager.check_neighbors_in_range ( self )

Check which neighbors are in range

Definition at line 31 of file neighbors_manager.py.

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◆ get_current_neighbors_callback()

def cslam.neighbors_manager.NeighborManager.get_current_neighbors_callback	(	self,
		msg
	)

Publish the current neighbors in range

Args:
    msg (String): Empty

Definition at line 171 of file neighbors_manager.py.

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◆ get_unknown_range()

def cslam.neighbors_manager.NeighborManager.get_unknown_range	(	self,
		descriptors
	)

_summary_

Args:
    descriptors (list): list of descriptors with ids info

Returns:
    range: indexes in list to process

Definition at line 147 of file neighbors_manager.py.

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◆ local_robot_is_broker()

def cslam.neighbors_manager.NeighborManager.local_robot_is_broker ( self )

This method check if the local robot (that runs this node), is the
default broker based on its current neighbors.

Returns:
    bool: is the local robot the default broker 
    among the robots in range

Definition at line 48 of file neighbors_manager.py.

◆ select_from_which_kf_to_send()

def cslam.neighbors_manager.NeighborManager.select_from_which_kf_to_send	(	self,
		latest_local_id
	)

This function finds the range of descriptors to send
so that we do not loose info

Definition at line 66 of file neighbors_manager.py.

◆ select_from_which_match_to_send()

def cslam.neighbors_manager.NeighborManager.select_from_which_match_to_send	(	self,
		latest_local_match_idx
	)

This function finds the range of matches to send
so that we do not loose info

Definition at line 87 of file neighbors_manager.py.

◆ update_received_kf_id()

def cslam.neighbors_manager.NeighborManager.update_received_kf_id	(	self,
		other_robot_id,
		kf_id
	)

Keep monitors up to date with received keyframes

Args:
    other_robot_id (int): other robot id
    kf_id (int): keyframe id

Definition at line 138 of file neighbors_manager.py.

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◆ useless_descriptors()

def cslam.neighbors_manager.NeighborManager.useless_descriptors	(	self,
		last_kf_id
	)

Determines which descriptors are not useless and can be deleted

Args:
    last_kf_id (int): last keyframe id in the list of descriptors
Returns:
    int: the id of the first descriptor that is not useless

Definition at line 108 of file neighbors_manager.py.

◆ useless_matches()

def cslam.neighbors_manager.NeighborManager.useless_matches	(	self,
		last_match_id
	)

Determines which matches are not useless and can be deleted

Args:
    last_match_id (int): last match id in the list of matches
Returns:
    int: the id of the first match that is not useless

Definition at line 123 of file neighbors_manager.py.

Member Data Documentation

◆ max_nb_robots

cslam.neighbors_manager.NeighborManager.max_nb_robots

Definition at line 15 of file neighbors_manager.py.

◆ neighbors_monitors

cslam.neighbors_manager.NeighborManager.neighbors_monitors

Definition at line 16 of file neighbors_manager.py.

◆ neighbors_publisher

cslam.neighbors_manager.NeighborManager.neighbors_publisher

Definition at line 28 of file neighbors_manager.py.

◆ node

cslam.neighbors_manager.NeighborManager.node

Definition at line 12 of file neighbors_manager.py.

◆ params

cslam.neighbors_manager.NeighborManager.params

Definition at line 13 of file neighbors_manager.py.

◆ robot_id

cslam.neighbors_manager.NeighborManager.robot_id

Definition at line 14 of file neighbors_manager.py.

◆ subscriber

cslam.neighbors_manager.NeighborManager.subscriber

Definition at line 25 of file neighbors_manager.py.

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

/home/lajoiepy/Documents/phd/projects/C-SLAM/Swarm-SLAM/src/cslam/cslam/neighbors_manager.py

Public Member Functions

Public Attributes