logFmt(mrpt::utils::LVL_DEBUG, "[perform_TLC] TLC of areas: %u <-> %u \n"
144 const CPose3D
AeRefInLMH = AiRef + Apose_ie;
151 const TPoseID
poseId = it->first;
[i].d->robotPoses[poseId] = AeRefInLMH + p
A namespace of pseudo-random numbers genrators of diferent distributions.
A class acquiring a CCriticalSection at its constructor, and releasing it at destructor.
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
The mean value.
void getMean(CPose3D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap).
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
The robot pose PDF.
const Scalar * const_iterator
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
The array of particles.
The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread ma...
std::map< TPoseID, CHMHMapNode::TNodeID > m_nodeIDmemberships
The hybrid map node membership for each robot pose.
size_t size() const
Get the m_particles count (equivalent to "particlesCount")
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs).
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning m_robotPosesGraph
std::map< TPoseID, mrpt::obs::CSensoryFrame > m_SFs
The SF gathered at each robot pose.
Rebuild the metric maps of all particles from the observations and their estimated poses...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
Information kept for each robot pose used in CRobotPosesGraph.
void updateAreaFromLMH(const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)
The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are ref...
CS to access the entire struct.
A class for storing a sequence of arcs (a path).
void getPoseParticles(const TPoseID &poseID, mrpt::poses::CPose3DPDFParticles &outPDF) const
Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...
The list of all areas sourronding the current one (this includes the current area itself)...
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
The type of the IDs of nodes.