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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