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mrpt::hmtslam::CRobotPosesGraph Class Reference

Detailed Description

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.

Definition at line 37 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
void insertIntoMetricMap (mrpt::maps::CMultiMetricMap &metricMap) const
 Insert all the observations in the map (without erasing previous contents). More...
 
void convertIntoSimplemap (mrpt::maps::CSimpleMap &out_simplemap) const
 Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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 voidoperator new (size_t size, void *ptr)
 

Public Attributes

keys
 STL member. More...
 
elements
 STL member. More...
 

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...
 

RTTI stuff

typedef CRobotPosesGraphPtr Ptr
 
typedef CRobotPosesGraphPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CRobotPosesGraph
 
static mrpt::utils::TRuntimeClassId classCRobotPosesGraph
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () 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 CRobotPosesGraphPtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

typedef CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::ConstPtr

Definition at line 40 of file CRobotPosesGraph.h.

◆ Ptr

typedef CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::Ptr

A typedef for the associated smart pointer

Definition at line 40 of file CRobotPosesGraph.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::_GetBaseClass ( )
staticprotected

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ convertIntoSimplemap()

void CRobotPosesGraph::convertIntoSimplemap ( mrpt::maps::CSimpleMap out_simplemap) const

Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.

Definition at line 91 of file CRobotPosesGraph.cpp.

References begin(), mrpt::maps::CSimpleMap::clear(), and mrpt::maps::CSimpleMap::insert().

◆ Create()

static CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::hmtslam::CRobotPosesGraph::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::hmtslam::CRobotPosesGraph::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ insertIntoMetricMap()

void CRobotPosesGraph::insertIntoMetricMap ( mrpt::maps::CMultiMetricMap metricMap) const

Insert all the observations in the map (without erasing previous contents).

Definition at line 78 of file CRobotPosesGraph.cpp.

References begin().

◆ operator delete() [1/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void ptr)
throw (
)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete() [2/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete() [3/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete[]()

void mrpt::hmtslam::CRobotPosesGraph::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [1/3]

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

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [2/3]

static void* mrpt::hmtslam::CRobotPosesGraph::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [3/3]

void* mrpt::hmtslam::CRobotPosesGraph::operator new ( size_t  size)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new[]()

void* mrpt::hmtslam::CRobotPosesGraph::operator new[] ( size_t  size)
inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ readFromStream()

void CRobotPosesGraph::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.

Definition at line 47 of file CRobotPosesGraph.cpp.

References mrpt::utils::clear(), info, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CRobotPosesGraph::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.

Definition at line 26 of file CRobotPosesGraph.cpp.

References begin(), and version.

Member Data Documentation

◆ _init_CRobotPosesGraph

mrpt::utils::CLASSINIT mrpt::hmtslam::CRobotPosesGraph::_init_CRobotPosesGraph
staticprotected

Definition at line 40 of file CRobotPosesGraph.h.

◆ classCObject

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

Definition at line 128 of file CObject.h.

◆ classCRobotPosesGraph

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::classCRobotPosesGraph
static

Definition at line 40 of file CRobotPosesGraph.h.

◆ classCSerializable

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

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::classinfo
static

Definition at line 40 of file CRobotPosesGraph.h.

◆ elements

T std::map< K, T >::elements
inherited

STL member.

◆ keys

K std::map< K, T >::keys
inherited

STL member.




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