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CRobotPosesGraph.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CRobotPosesGraph_H
00029 #define CRobotPosesGraph_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 
00033 #include <mrpt/hmtslam/HMT_SLAM_common.h>
00034 #include <mrpt/poses/CPose3DPDFParticles.h>
00035 #include <mrpt/slam/CSensoryFrame.h>
00036 #include <mrpt/slam/CSimpleMap.h>
00037 #include <mrpt/slam/CMultiMetricMap.h>
00038 
00039 
00040 namespace mrpt
00041 {
00042         namespace hmtslam
00043         {
00044                 using namespace mrpt::slam;
00045 
00046                 /** Information kept for each robot pose used in CRobotPosesGraph */
00047                 struct HMTSLAM_IMPEXP TPoseInfo
00048                 {
00049                         CSensoryFrame                   sf;   //!< The observations
00050                         CPose3DPDFParticles             pdf;  //!< The robot pose PDF
00051                 };
00052 
00053                 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CRobotPosesGraph, mrpt::utils::CSerializable, HMTSLAM_IMPEXP )
00054 
00055                 /** Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.
00056                   */
00057                 class HMTSLAM_IMPEXP CRobotPosesGraph : public  mrpt::utils::CSerializable, public std::map<TPoseID,TPoseInfo>
00058                 {
00059                         // This must be added to any CSerializable derived class:
00060                         DEFINE_SERIALIZABLE( CRobotPosesGraph )
00061                 public:
00062 
00063                         /** Insert all the observations in the map (without erasing previous contents). */
00064                         void insertIntoMetricMap( CMultiMetricMap       &metricMap ) const;
00065 
00066                         /** Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object. */
00067                         void convertIntoSimplemap( CSimpleMap &out_simplemap) const;
00068 
00069                 }; // end of class
00070 
00071 
00072         } // End of namespace
00073 } // End of namespace
00074 #endif



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