Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
Classes | |
class | CHierarchicalMapMHPartition |
Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More... | |
struct | CHierarchicalMHMapPtr |
class | CHierarchicalMHMap |
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More... | |
class | CHMHMapArc |
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More... | |
struct | CHMHMapNodePtr |
class | CHMHMapNode |
A class for representing a node in a hierarchical, multi-hypothesis map. More... | |
struct | CHMTSLAMPtr |
class | CHMTSLAM |
An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More... | |
class | CLSLAMAlgorithmBase |
Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More... | |
class | CLSLAM_RBPF_2DLASER |
Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More... | |
struct | CLSLAMParticleDataPtr |
struct | CLocalMetricHypothesisPtr |
class | CLSLAMParticleData |
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More... | |
class | CLocalMetricHypothesis |
This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). More... | |
struct | TPoseInfo |
Information kept for each robot pose used in CRobotPosesGraph. More... | |
struct | CRobotPosesGraphPtr |
class | CRobotPosesGraph |
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. More... | |
class | CTopLCDetector_FabMap |
class | CTopLCDetector_GridMatching |
class | CTopLCDetectorBase |
The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More... | |
struct | CHMHMapArcPtr |
struct | THypothesisIDSetPtr |
class | THypothesisIDSet |
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More... | |
class | TArcList |
A class for storing a sequence of arcs (a path). More... | |
Typedefs | |
typedef std::map < CHMHMapNode::TNodeID, CHMHMapNodePtr > | TNodeList |
A map between node IDs and nodes (used in HMT-SLAM). | |
typedef list_searchable < CHMHMapNode::TNodeID > | TNodeIDList |
typedef std::set < CHMHMapNode::TNodeID > | TNodeIDSet |
typedef std::pair < CHMHMapNode::TNodeID, CHMHMapNode::TNodeID > | TPairNodeIDs |
typedef stlplus::smart_ptr < CTopLCDetectorBase > | CTopLCDetectorBasePtr |
typedef int64_t | THypothesisID |
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. | |
typedef uint64_t | TPoseID |
An integer number uniquely identifying each robot pose stored in HMT-SLAM. | |
typedef std::pair< TPoseID, TPoseID > | TPairPoseIDs |
typedef std::vector< TPoseID > | TPoseIDList |
typedef std::set< TPoseID > | TPoseIDSet |
Functions | |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj) |
HMTSLAM_IMPEXP::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CHMHMapNodePtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CHMTSLAMPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CLSLAMParticleDataPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CLocalMetricHypothesisPtr &pObj) |
HMTSLAM_IMPEXP::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CRobotPosesGraphPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj) |
Variables | |
class HMTSLAM_IMPEXP | CHierarchicalMHMap |
class HMTSLAM_IMPEXP | CHMHMapArc |
class HMTSLAM_IMPEXP | CHMHMapNode |
class HMTSLAM_IMPEXP | CHMTSLAM |
class HMTSLAM_IMPEXP | CLSLAM_RBPF_2DLASER |
class HMTSLAM_IMPEXP | CRobotPosesGraph |
Definition at line 103 of file CTopLCDetectorBase.h.
typedef int64_t mrpt::hmtslam::THypothesisID |
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.
The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree". They can be generated from CHMTSLAM::generateHypothesisID()
Definition at line 81 of file HMT_SLAM_common.h.
Definition at line 168 of file CHMHMapNode.h.
typedef std::set<CHMHMapNode::TNodeID> mrpt::hmtslam::TNodeIDSet |
Definition at line 169 of file CHMHMapNode.h.
typedef std::map<CHMHMapNode::TNodeID,CHMHMapNodePtr> mrpt::hmtslam::TNodeList |
A map between node IDs and nodes (used in HMT-SLAM).
Definition at line 167 of file CHMHMapNode.h.
typedef std::pair<CHMHMapNode::TNodeID,CHMHMapNode::TNodeID> mrpt::hmtslam::TPairNodeIDs |
Definition at line 170 of file CHMHMapNode.h.
typedef std::pair<TPoseID,TPoseID> mrpt::hmtslam::TPairPoseIDs |
Definition at line 88 of file HMT_SLAM_common.h.
typedef uint64_t mrpt::hmtslam::TPoseID |
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
They can be generated from CHMTSLAM::generatePoseID()
Definition at line 86 of file HMT_SLAM_common.h.
typedef std::vector<TPoseID> mrpt::hmtslam::TPoseIDList |
Definition at line 90 of file HMT_SLAM_common.h.
typedef std::set<TPoseID> mrpt::hmtslam::TPoseIDSet |
Definition at line 91 of file HMT_SLAM_common.h.
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CHierarchicalMHMapPtr & | pObj | ||
) |
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
THypothesisIDSetPtr & | pObj | ||
) |
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CHMHMapArcPtr & | pObj | ||
) |
HMTSLAM_IMPEXP ::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CRobotPosesGraphPtr & | pObj | ||
) |
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CLocalMetricHypothesisPtr & | pObj | ||
) |
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CLSLAMParticleDataPtr & | pObj | ||
) |
::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CHMTSLAMPtr & | pObj | ||
) |
HMTSLAM_IMPEXP ::mrpt::utils::CStream& mrpt::hmtslam::operator>> | ( | mrpt::utils::CStream & | in, |
CHMHMapNodePtr & | pObj | ||
) |
class HMTSLAM_IMPEXP mrpt::hmtslam::CHierarchicalMHMap |
Definition at line 40 of file CHMHMapArc.h.
class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapArc |
Definition at line 47 of file CHMHMapNode.h.
class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapNode |
Definition at line 49 of file CHMHMapNode.h.
class HMTSLAM_IMPEXP mrpt::hmtslam::CHMTSLAM |
Definition at line 58 of file CLocalMetricHypothesis.h.
class HMTSLAM_IMPEXP mrpt::hmtslam::CLSLAM_RBPF_2DLASER |
Definition at line 59 of file CLocalMetricHypothesis.h.
class HMTSLAM_IMPEXP mrpt::hmtslam::CRobotPosesGraph |
Definition at line 53 of file CRobotPosesGraph.h.
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