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mrpt::hmtslam::CHierarchicalMHMap Class Reference


Detailed Description

The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.

This class is used within the HMT-SLAM implementation in CHMTSLAM.

See also:
CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

Definition at line 52 of file CHierarchicalMHMap.h.

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CHierarchicalMHMap ()
 Default constructor.
void dumpAsXMLfile (std::string fileName) const
 Destructor.
void loadFromXMLfile (std::string fileName)
 Load a graph from a XML file.
virtual ~CHierarchicalMHMap ()
void clear ()
 Erase all the contents of map (It delete all nodes/arcs objects)

Protected Member Functions

void onNodeAddition (CHMHMapNodePtr &node)
 Event handler to be called just after a node has being created: it will be added to the internal list.
void onArcAddition (CHMHMapArcPtr &arc)
 Event handler to be called just after an arc has being created: it will be added to the internal list.
void onNodeDestruction (CHMHMapNode *node)
 Event handler to be called just before a node is being destroyed: it will be removed from the internal list.
void onArcDestruction (CHMHMapArc *arc)
 Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.

Friends

class HMTSLAM_IMPEXP CHMHMapArc
class HMTSLAM_IMPEXP CHMHMapNode

RTTI stuff

typedef CHierarchicalMHMapPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CHierarchicalMHMap
static mrpt::utils::TRuntimeClassId classCHierarchicalMHMap
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CHierarchicalMHMapPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 58 of file CHierarchicalMHMap.h.


Constructor & Destructor Documentation

mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap ( )

Default constructor.

virtual mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap ( ) [virtual]

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CHierarchicalMHMap::clear ( )

Erase all the contents of map (It delete all nodes/arcs objects)

static CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::Create ( ) [static]
static mrpt::utils::CObject* mrpt::hmtslam::CHierarchicalMHMap::CreateObject ( ) [static]
void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile ( std::string  fileName) const

Destructor.

Save the whole graph as a XML file

virtual mrpt::utils::CObject* mrpt::hmtslam::CHierarchicalMHMap::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile ( std::string  fileName)

Load a graph from a XML file.

void mrpt::hmtslam::CHierarchicalMHMap::onArcAddition ( CHMHMapArcPtr arc) [protected]

Event handler to be called just after an arc has being created: it will be added to the internal list.

void mrpt::hmtslam::CHierarchicalMHMap::onArcDestruction ( CHMHMapArc arc) [protected]

Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.

Note:
At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.
void mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition ( CHMHMapNodePtr node) [protected]

Event handler to be called just after a node has being created: it will be added to the internal list.

void mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction ( CHMHMapNode node) [protected]

Event handler to be called just before a node is being destroyed: it will be removed from the internal list.

Note:
At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CHMHMapArc [friend]

Definition at line 54 of file CHierarchicalMHMap.h.

friend class HMTSLAM_IMPEXP CHMHMapNode [friend]

Definition at line 55 of file CHierarchicalMHMap.h.


Member Data Documentation

Definition at line 58 of file CHierarchicalMHMap.h.

Definition at line 58 of file CHierarchicalMHMap.h.

Definition at line 58 of file CHierarchicalMHMap.h.




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