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mrpt::slam::CSimpleMap Class Reference

Detailed Description

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.

The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.

Note
Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".
Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility.
See Also
CSensoryFrame, CPosePDF

Definition at line 34 of file CSimpleMap.h.

#include <mrpt/slam/CSimpleMap.h>

Inheritance diagram for mrpt::slam::CSimpleMap:
Inheritance graph
[legend]

Public Types

typedef std::pair
< CPose3DPDFPtr,
CSensoryFramePtr
TPosePDFSensFramePair
 
typedef std::deque
< TPosePDFSensFramePair
TPosePDFSensFramePairList
 
typedef
TPosePDFSensFramePairList::const_iterator 
const_iterator
 
typedef
TPosePDFSensFramePairList::iterator 
iterator
 
typedef
TPosePDFSensFramePairList::reverse_iterator 
reverse_iterator
 
typedef
TPosePDFSensFramePairList::const_reverse_iterator 
const_reverse_iterator
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CSimpleMap ()
 Constructor. More...
 
 CSimpleMap (const CSimpleMap &o)
 Copy constructor. More...
 
CSimpleMapoperator= (const CSimpleMap &o)
 Copy constructor. More...
 
virtual ~CSimpleMap ()
 Destructor: More...
 
bool saveToFile (const std::string &filName) const
 Save this object to a .simplemap binary file (compressed with gzip) More...
 
bool loadFromFile (const std::string &filName)
 Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) More...
 
size_t size () const
 Returns the pairs count. More...
 
void get (size_t index, CPose3DPDFPtr &out_posePDF, CSensoryFramePtr &out_SF) const
 Access to the i'th pair, first one is index '0'. More...
 
void set (size_t index, const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
 Changes the i'th pair, first one is index '0'. More...
 
void set (size_t index, const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
 Changes the i'th pair, first one is index '0'. More...
 
void remove (size_t index)
 Deletes the i'th pair, first one is index '0'. More...
 
void insert (const CPose3DPDF *in_posePDF, const CSensoryFrame &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const CPose3DPDF *in_posePDF, const CSensoryFramePtr &in_SF)
 Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...
 
void insert (const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
 Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...
 
void insert (const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const CPosePDF *in_posePDF, const CSensoryFrame &in_SF)
 Add a new pair to the sequence. More...
 
void insert (const CPosePDF *in_posePDF, const CSensoryFramePtr &in_SF)
 Add a new pair to the sequence. More...
 
void clear ()
 Remove all stored pairs. More...
 
void changeCoordinatesOrigin (const CPose3D &newOrigin)
 Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. More...
 
const_iterator begin () const
 
const_iterator end () const
 
iterator begin ()
 
iterator end ()
 
const_reverse_iterator rbegin () const
 
const_reverse_iterator rend () const
 
reverse_iterator rbegin ()
 
reverse_iterator rend ()
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
 

Private Attributes

TPosePDFSensFramePairList m_posesObsPairs
 The stored data. More...
 

RTTI stuff

typedef CSimpleMapPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CSimpleMap
 
static mrpt::utils::TRuntimeClassId classCSimpleMap
 
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. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CSimpleMapPtr Create ()
 

Member Typedef Documentation

typedef TPosePDFSensFramePairList::const_iterator mrpt::slam::CSimpleMap::const_iterator

Definition at line 143 of file CSimpleMap.h.

typedef TPosePDFSensFramePairList::const_reverse_iterator mrpt::slam::CSimpleMap::const_reverse_iterator

Definition at line 146 of file CSimpleMap.h.

typedef TPosePDFSensFramePairList::iterator mrpt::slam::CSimpleMap::iterator

Definition at line 144 of file CSimpleMap.h.

typedef TPosePDFSensFramePairList::reverse_iterator mrpt::slam::CSimpleMap::reverse_iterator

Definition at line 145 of file CSimpleMap.h.

A typedef for the associated smart pointer

Definition at line 37 of file CSimpleMap.h.

Definition at line 140 of file CSimpleMap.h.

Definition at line 141 of file CSimpleMap.h.

Constructor & Destructor Documentation

mrpt::slam::CSimpleMap::CSimpleMap ( )

Constructor.

mrpt::slam::CSimpleMap::CSimpleMap ( const CSimpleMap o)

Copy constructor.

virtual mrpt::slam::CSimpleMap::~CSimpleMap ( )
virtual

Destructor:

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::_GetBaseClass ( )
staticprotected
const_iterator mrpt::slam::CSimpleMap::begin ( ) const
inline

Definition at line 149 of file CSimpleMap.h.

iterator mrpt::slam::CSimpleMap::begin ( )
inline

Definition at line 151 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::changeCoordinatesOrigin ( const CPose3D newOrigin)

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

void mrpt::slam::CSimpleMap::clear ( )

Remove all stored pairs.

See Also
remove
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CSimpleMapPtr mrpt::slam::CSimpleMap::Create ( )
static
static mrpt::utils::CObject* mrpt::slam::CSimpleMap::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::slam::CSimpleMap::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 136 of file CObject.h.

const_iterator mrpt::slam::CSimpleMap::end ( ) const
inline

Definition at line 150 of file CSimpleMap.h.

iterator mrpt::slam::CSimpleMap::end ( )
inline

Definition at line 152 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::get ( size_t  index,
CPose3DPDFPtr out_posePDF,
CSensoryFramePtr out_SF 
) const

Access to the i'th pair, first one is index '0'.

NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so do neither modify them nor delete them. NOTE: You can pass a NULL pointer if you dont need one of the two variables to be returned.

Exceptions
std::exceptionOn index out of bounds.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::slam::CSimpleMap::insert ( const CPose3DPDF in_posePDF,
const CSensoryFrame in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion.

void mrpt::slam::CSimpleMap::insert ( const CPose3DPDF in_posePDF,
const CSensoryFramePtr in_SF 
)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::slam::CSimpleMap::insert ( const CPose3DPDFPtr in_posePDF,
const CSensoryFramePtr in_SF 
)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::slam::CSimpleMap::insert ( const CPosePDFPtr in_posePDF,
const CSensoryFramePtr in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void mrpt::slam::CSimpleMap::insert ( const CPosePDF in_posePDF,
const CSensoryFrame in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void mrpt::slam::CSimpleMap::insert ( const CPosePDF in_posePDF,
const CSensoryFramePtr in_SF 
)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

bool mrpt::slam::CSimpleMap::loadFromFile ( const std::string &  filName)

Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)

See Also
saveToFile
Returns
false on any error.
void mrpt::slam::CSimpleMap::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 37 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 37 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 37 of file CSimpleMap.h.

static void* mrpt::slam::CSimpleMap::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 37 of file CSimpleMap.h.

void* mrpt::slam::CSimpleMap::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CSimpleMap.h.

void* mrpt::slam::CSimpleMap::operator new ( size_t  size)
inline

Definition at line 37 of file CSimpleMap.h.

void* mrpt::slam::CSimpleMap::operator new[] ( size_t  size)
inline

Definition at line 37 of file CSimpleMap.h.

CSimpleMap& mrpt::slam::CSimpleMap::operator= ( const CSimpleMap o)

Copy constructor.

const_reverse_iterator mrpt::slam::CSimpleMap::rbegin ( ) const
inline

Definition at line 154 of file CSimpleMap.h.

reverse_iterator mrpt::slam::CSimpleMap::rbegin ( )
inline

Definition at line 156 of file CSimpleMap.h.

void mrpt::slam::CSimpleMap::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

void mrpt::slam::CSimpleMap::remove ( size_t  index)

Deletes the i'th pair, first one is index '0'.

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, set
const_reverse_iterator mrpt::slam::CSimpleMap::rend ( ) const
inline

Definition at line 155 of file CSimpleMap.h.

reverse_iterator mrpt::slam::CSimpleMap::rend ( )
inline

Definition at line 157 of file CSimpleMap.h.

bool mrpt::slam::CSimpleMap::saveToFile ( const std::string &  filName) const

Save this object to a .simplemap binary file (compressed with gzip)

See Also
loadFromFile
Returns
false on any error.
void mrpt::slam::CSimpleMap::set ( size_t  index,
const CPose3DPDFPtr in_posePDF,
const CSensoryFramePtr in_SF 
)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, remove
void mrpt::slam::CSimpleMap::set ( size_t  index,
const CPosePDFPtr in_posePDF,
const CSensoryFramePtr in_SF 
)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Exceptions
std::exceptionOn index out of bounds.
See Also
insert, get, remove
size_t mrpt::slam::CSimpleMap::size ( ) const

Returns the pairs count.

void mrpt::slam::CSimpleMap::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CSimpleMap::_init_CSimpleMap
staticprotected

Definition at line 37 of file CSimpleMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 38 of file CSerializable.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CSimpleMap::classCSimpleMap
static

Definition at line 37 of file CSimpleMap.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::classinfo
static

Definition at line 37 of file CSimpleMap.h.

TPosePDFSensFramePairList mrpt::slam::CSimpleMap::m_posesObsPairs
private

The stored data.

Definition at line 161 of file CSimpleMap.h.




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