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HMT_SLAM_common.h File Reference
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/list_searchable.h>
#include <set>
#include <mrpt/hmtslam/link_pragmas.h>
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Classes

class  mrpt::hmtslam::THypothesisIDSet
 A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...
 
class  mrpt::hmtslam::TArcList
 A class for storing a sequence of arcs (a path). More...
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::hmtslam
 Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
 

Macros

#define COMMON_TOPOLOG_HYP   static_cast<THypothesisID>(0)
 
#define NODE_ANNOTATION_METRIC_MAPS   "metricMaps"
 
#define NODE_ANNOTATION_REF_POSEID   "refPoseID"
 
#define NODE_ANNOTATION_POSES_GRAPH   "posesGraph"
 
#define NODE_ANNOTATION_PLACE_POSE   "placePose"
 
#define ARC_ANNOTATION_DELTA   "Delta"
 
#define ARC_ANNOTATION_DELTA_SRC_POSEID   "Delta_poseID_src"
 
#define ARC_ANNOTATION_DELTA_TRG_POSEID   "Delta_poseID_trg"
 
#define ARC_TYPES   "Membership,Navegability,RelativePose,Location"
 Used in constructor of mrpt::hmtslam::CHMHMapArc. More...
 
#define DEFAULT_ARC_TYPE   "Membership"
 
#define NODE_TYPES   "Place,Area,TopologicalMap,Object"
 Used in constructor of mrpt::hmtslam::CHMHMapNode. More...
 
#define DEFAULT_NODE_TYPE   "Place"
 
#define POSEID_INVALID   static_cast<TPoseID>(-1)
 
#define AREAID_INVALID   static_cast<uint64_t>(-1)
 
#define MSG_SOURCE_LSLAM   1
 
#define MSG_SOURCE_AA   2
 

Typedefs

typedef int64_t mrpt::hmtslam::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 mrpt::hmtslam::TPoseID
 An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...
 
typedef std::pair< TPoseID, TPoseID > mrpt::hmtslam::TPairPoseIDs
 
typedef std::vector< TPoseID > mrpt::hmtslam::TPoseIDList
 
typedef std::set< TPoseID > mrpt::hmtslam::TPoseIDSet
 

Functions

::mrpt::utils::CStreammrpt::hmtslam::operator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj)
 
::mrpt::utils::CStreammrpt::hmtslam::operator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj)
 

Variables

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapNode
 

Macro Definition Documentation

◆ ARC_ANNOTATION_DELTA

#define ARC_ANNOTATION_DELTA   "Delta"

◆ ARC_ANNOTATION_DELTA_SRC_POSEID

#define ARC_ANNOTATION_DELTA_SRC_POSEID   "Delta_poseID_src"

◆ ARC_ANNOTATION_DELTA_TRG_POSEID

#define ARC_ANNOTATION_DELTA_TRG_POSEID   "Delta_poseID_trg"

◆ ARC_TYPES

#define ARC_TYPES   "Membership,Navegability,RelativePose,Location"

Used in constructor of mrpt::hmtslam::CHMHMapArc.

Definition at line 32 of file HMT_SLAM_common.h.

◆ AREAID_INVALID

#define AREAID_INVALID   static_cast<uint64_t>(-1)

◆ COMMON_TOPOLOG_HYP

#define COMMON_TOPOLOG_HYP   static_cast<THypothesisID>(0)

◆ DEFAULT_ARC_TYPE

#define DEFAULT_ARC_TYPE   "Membership"

Definition at line 33 of file HMT_SLAM_common.h.

◆ DEFAULT_NODE_TYPE

#define DEFAULT_NODE_TYPE   "Place"

Definition at line 37 of file HMT_SLAM_common.h.

◆ MSG_SOURCE_AA

#define MSG_SOURCE_AA   2

Definition at line 45 of file HMT_SLAM_common.h.

◆ MSG_SOURCE_LSLAM

#define MSG_SOURCE_LSLAM   1

Definition at line 44 of file HMT_SLAM_common.h.

◆ NODE_ANNOTATION_METRIC_MAPS

#define NODE_ANNOTATION_METRIC_MAPS   "metricMaps"

◆ NODE_ANNOTATION_PLACE_POSE

#define NODE_ANNOTATION_PLACE_POSE   "placePose"

◆ NODE_ANNOTATION_POSES_GRAPH

#define NODE_ANNOTATION_POSES_GRAPH   "posesGraph"

◆ NODE_ANNOTATION_REF_POSEID

#define NODE_ANNOTATION_REF_POSEID   "refPoseID"

◆ NODE_TYPES

#define NODE_TYPES   "Place,Area,TopologicalMap,Object"

Used in constructor of mrpt::hmtslam::CHMHMapNode.

Definition at line 36 of file HMT_SLAM_common.h.

◆ POSEID_INVALID

#define POSEID_INVALID   static_cast<TPoseID>(-1)



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