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CRobotPosesGraph.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CRobotPosesGraph_H
10 #define CRobotPosesGraph_H
11 
13 
16 #include <mrpt/obs/CSensoryFrame.h>
17 #include <mrpt/maps/CSimpleMap.h>
19 
20 
21 namespace mrpt
22 {
23  namespace hmtslam
24  {
25  /** Information kept for each robot pose used in CRobotPosesGraph */
27  {
28  mrpt::obs::CSensoryFrame sf; //!< The observations
29  mrpt::poses::CPose3DPDFParticles pdf; //!< The robot pose PDF
30  };
31 
33 
34  /** 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.
35  * \ingroup mrpt_hmtslam_grp
36  */
37  class HMTSLAM_IMPEXP CRobotPosesGraph : public mrpt::utils::CSerializable, public std::map<TPoseID,TPoseInfo>
38  {
39  // This must be added to any CSerializable derived class:
41  public:
42 
43  /** Insert all the observations in the map (without erasing previous contents). */
44  void insertIntoMetricMap( mrpt::maps::CMultiMetricMap &metricMap ) const;
45 
46  /** Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. */
47  void convertIntoSimplemap( mrpt::maps::CSimpleMap &out_simplemap) const;
48 
49  }; // end of class
51 
52 
53  } // End of namespace
54 } // End of namespace
55 #endif
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
mrpt::poses::CPose3DPDFParticles pdf
The robot pose PDF.
STL namespace.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::obs::CSensoryFrame sf
The observations.
Information kept for each robot pose used in CRobotPosesGraph.
This class stores any customizable set of metric maps.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
Declares a class that represents a Probability Density function (PDF) of a 3D pose.



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