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mrpt::hmtslam Namespace Reference

Detailed Description

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...
 
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...
 
class  CHMHMapNode
 A class for representing a node in a hierarchical, multi-hypothesis map. More...
 
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...
 
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...
 
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...
 
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). More...
 
typedef
mrpt::utils::list_searchable
< CHMHMapNode::TNodeID
TNodeIDList
 
typedef std::set
< CHMHMapNode::TNodeID
TNodeIDSet
 
typedef std::pair
< CHMHMapNode::TNodeID,
CHMHMapNode::TNodeID
TPairNodeIDs
 
typedef
mrpt::aligned_containers
< TPoseID,
mrpt::poses::CPose3D >::map_t 
TMapPoseID2Pose3D
 
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. More...
 
typedef uint64_t TPoseID
 An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...
 
typedef std::pair< TPoseID,
TPoseID
TPairPoseIDs
 
typedef std::vector< TPoseIDTPoseIDList
 
typedef std::set< TPoseIDTPoseIDSet
 

Functions

::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHMHMapNodePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHMTSLAMPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLSLAMParticleDataPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLocalMetricHypothesisPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CRobotPosesGraphPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj)
 

Variables

class HMTSLAM_IMPEXP CHierarchicalMHMap
 
class HMTSLAM_IMPEXP CHMHMapArc
 
class HMTSLAM_IMPEXP CHMTSLAM
 
class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER
 
class HMTSLAM_IMPEXP CHMHMapNode
 

Typedef Documentation

Definition at line 87 of file CTopLCDetectorBase.h.

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 60 of file HMT_SLAM_common.h.

Definition at line 31 of file CLocalMetricHypothesis.h.

Definition at line 149 of file CHMHMapNode.h.

Definition at line 150 of file CHMHMapNode.h.

typedef std::map<CHMHMapNode::TNodeID,CHMHMapNodePtr> mrpt::hmtslam::TNodeList

A map between node IDs and nodes (used in HMT-SLAM).

See Also
CHMTSLAM

Definition at line 148 of file CHMHMapNode.h.

Definition at line 151 of file CHMHMapNode.h.

Definition at line 67 of file HMT_SLAM_common.h.

An integer number uniquely identifying each robot pose stored in HMT-SLAM.

They can be generated from CHMTSLAM::generatePoseID()

Definition at line 65 of file HMT_SLAM_common.h.

typedef std::vector<TPoseID> mrpt::hmtslam::TPoseIDList

Definition at line 69 of file HMT_SLAM_common.h.

Definition at line 70 of file HMT_SLAM_common.h.

Function Documentation

::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHierarchicalMHMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMHMapNodePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CRobotPosesGraphPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CLSLAMParticleDataPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CLocalMetricHypothesisPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMTSLAMPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMHMapArcPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
THypothesisIDSetPtr &  pObj 
)

Variable Documentation

Definition at line 20 of file CHMHMapArc.h.

Definition at line 26 of file CHMHMapNode.h.

Referenced by mrpt::hmtslam::CHMHMapArc::Create().

Definition at line 52 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHMHMapNode::Create().

Definition at line 33 of file CLocalMetricHypothesis.h.




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