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CHMHMapArc.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 CHMHMapArc_H
00029 #define CHMHMapArc_H
00030 
00031 #include <mrpt/slam/CSensoryFrame.h>
00032 #include <mrpt/hmtslam/CHMHMapNode.h>
00033 #include <mrpt/utils/CSerializable.h>
00034 
00035 namespace mrpt
00036 {
00037         namespace hmtslam
00038         {
00039                 using namespace mrpt::slam;
00040                 class HMTSLAM_IMPEXP CHierarchicalMHMap;
00041 
00042                 //DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHMHMapArc, mrpt::utils::CSerializable, HMTSLAM_IMPEXP )
00043 
00044                 /** A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
00045                  *   The arc itself will be considered only if some given hypothesisID matchs its own ID.
00046                  * \note Create objects by invoking the class factory "::Create"
00047                  *
00048                  * \sa CHierarchicalMHMap,CHMHMapNode
00049                  */
00050                 class HMTSLAM_IMPEXP CHMHMapArc : public mrpt::utils::CSerializable
00051                 {
00052                         friend class HMTSLAM_IMPEXP CHierarchicalMHMap;
00053                         friend class HMTSLAM_IMPEXP CHMHMapNode;
00054                         friend class HMTSLAM_IMPEXP CHierarchicalMapMHPartition;
00055                         friend class TArcList;
00056 
00057                         // This must be added to any CSerializable derived class:
00058                         DEFINE_SERIALIZABLE( CHMHMapArc )
00059 
00060                 public:
00061                         /** The hypothesis IDs under which this arc exists.
00062                           */
00063                         THypothesisIDSet                m_hypotheses;
00064 
00065                 protected:
00066                         /** The origin/target nodes for this arc.
00067                           */
00068                         CHMHMapNode::TNodeID    m_nodeFrom, m_nodeTo;
00069 
00070                         /** The hierarchical graph in which this object is into.
00071                           */
00072                         safe_ptr<CHierarchicalMHMap>    m_parent;
00073 
00074 
00075                          /** Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects
00076                           *   When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.
00077                           */
00078                          void  onNodeDestruction(CHMHMapNode *node);
00079 
00080                 private:
00081                         /** Private constructor (see ::Create class factory)
00082                           */
00083                         CHMHMapArc(
00084                                 const CHMHMapNode::TNodeID              &from =0,
00085                                 const CHMHMapNode::TNodeID              &to   =0,
00086                                 const THypothesisIDSet                  &hyps = THypothesisIDSet(),
00087                                 CHierarchicalMHMap              *parent=NULL);
00088 
00089                         /** Alternative constructor, using pointers for convenience.
00090                           */
00091                         CHMHMapArc(
00092                                 CHMHMapNodePtr          &from,
00093                                 CHMHMapNodePtr          &to,
00094                                 const THypothesisIDSet          &hyps,
00095                                 CHierarchicalMHMap                      *parent);
00096 
00097                 public:
00098                         /** Constructor from node IDs
00099                           */
00100                         static CHMHMapArcPtr Create(
00101                                 const CHMHMapNode::TNodeID              &from,
00102                                 const CHMHMapNode::TNodeID              &to,
00103                                 const THypothesisIDSet                  &hyps = THypothesisIDSet(),
00104                                 CHierarchicalMHMap              *parent=NULL);
00105 
00106                         /** Alternative constructor, using pointers for convenience.
00107                           */
00108                         static CHMHMapArcPtr Create(
00109                                 CHMHMapNodePtr          &from,
00110                                 CHMHMapNodePtr          &to,
00111                                 const THypothesisIDSet          &hyps,
00112                                 CHierarchicalMHMap                      *parent);
00113 
00114                         /** Destructor
00115                           */
00116                         virtual ~CHMHMapArc();
00117 
00118                         /** Return the starting node of the arc:
00119                           */
00120                         CHMHMapNode::TNodeID     getNodeFrom() const { ASSERT_(m_nodeFrom!=AREAID_INVALID); return m_nodeFrom; }
00121 
00122                         /** Return the ending node of the arc:
00123                           */
00124                         CHMHMapNode::TNodeID     getNodeTo() const { ASSERT_(m_nodeTo!=AREAID_INVALID); return m_nodeTo; }
00125 
00126                         /** The type of the arc, the possibilities are:
00127                                         - "Membership": for abstractions
00128                                         - "Navegability"
00129                                         - "RelativePose"
00130                           */
00131                         utils::CTypeSelector                    m_arcType;
00132 
00133                         /** The annotations of the arc, see the general description of the class for possible properties and values.
00134                           */
00135                         utils::CMHPropertiesValuesList  m_annotations;
00136 
00137                 }; // End of class def.
00138 
00139 
00140         } // End of namespace
00141 } // End of namespace
00142 
00143 #endif



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