Detailed Description

A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.

The arc itself will be considered only if some given hypothesisID matchs its own ID.

Note: Create objects by invoking the class factory "::Create"

See also: CHierarchicalMHMap,CHMHMapNode

Definition at line 29 of file CHMHMapArc.h.

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

virtual	~CHMHMapArc ()
	Destructor. More...

CHMHMapNode::TNodeID	getNodeFrom () const
	Return the starting node of the arc: More...

CHMHMapNode::TNodeID	getNodeTo () const
	Return the ending node of the arc: More...

virtual mxArray *	writeToMatlab () 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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

RTTI classes and functions
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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static CHMHMapArcPtr	Create (const CHMHMapNode::TNodeID &from, const CHMHMapNode::TNodeID &to, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
	Constructor from node IDs. More...

static CHMHMapArcPtr	Create (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
	Alternative constructor, using pointers for convenience. More...

Public Attributes
THypothesisIDSet	m_hypotheses
	The hypothesis IDs under which this arc exists. More...

utils::CTypeSelector	m_arcType
	The type of the arc, the possibilities are: More...

utils::CMHPropertiesValuesList	m_annotations
	The annotations of the arc, see the general description of the class for possible properties and values. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one. More...

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...

Protected Attributes
CHMHMapNode::TNodeID	m_nodeFrom
	The origin/target nodes for this arc. More...

CHMHMapNode::TNodeID	m_nodeTo

mrpt::utils::safe_ptr< CHierarchicalMHMap >	m_parent
	The hierarchical graph in which this object is into. More...

Private Member Functions
	CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
	Private constructor (see ::Create class factory) More...

	CHMHMapArc (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
	Alternative constructor, using pointers for convenience. More...

Friends
class	CHierarchicalMHMap

class	CHMHMapNode

class	CHierarchicalMapMHPartition

class	TArcList

RTTI stuff
typedef CHMHMapArcPtr	Ptr

typedef CHMHMapArcPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CHMHMapArc

static mrpt::utils::TRuntimeClassId	classCHMHMapArc

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CHMHMapArcPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::ConstPtr

Definition at line 37 of file CHMHMapArc.h.

◆ Ptr

typedef CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file CHMHMapArc.h.

Constructor & Destructor Documentation

◆ CHMHMapArc() [1/2]

CHMHMapArc::CHMHMapArc	(	const CHMHMapNode::TNodeID &	from = `0`,
		const CHMHMapNode::TNodeID &	to = `0`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`,
		CHierarchicalMHMap *	parent = `NULL`
	)

private

Private constructor (see ::Create class factory)

Definition at line 21 of file CHMHMapArc.cpp.

Referenced by Create().

◆ CHMHMapArc() [2/2]

CHMHMapArc::CHMHMapArc	(	CHMHMapNodePtr &	from,
		CHMHMapNodePtr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)

private

Alternative constructor, using pointers for convenience.

Definition at line 61 of file CHMHMapArc.cpp.

References m_nodeFrom, and m_nodeTo.

◆ ~CHMHMapArc()

CHMHMapArc::~CHMHMapArc ( )

virtual

Destructor.

Definition at line 102 of file CHMHMapArc.cpp.

References m_nodeFrom, m_nodeTo, and m_parent.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::_GetBaseClass ( )

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create() [1/3]

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( )

static

Referenced by mrpt::hmtslam::TArcList::read().

◆ Create() [2/3]

CHMHMapArcPtr CHMHMapArc::Create	(	const CHMHMapNode::TNodeID &	from,
		const CHMHMapNode::TNodeID &	to,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`,
		CHierarchicalMHMap *	parent = `NULL`
	)

static

Constructor from node IDs.

Definition at line 38 of file CHMHMapArc.cpp.

References mrpt::hmtslam::CHMHMapArc, mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID(), and mrpt::hmtslam::CHierarchicalMHMap::onArcAddition().

◆ Create() [3/3]

CHMHMapArcPtr CHMHMapArc::Create	(	CHMHMapNodePtr &	from,
		CHMHMapNodePtr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)

static

Alternative constructor, using pointers for convenience.

Definition at line 80 of file CHMHMapArc.cpp.

References CHMHMapArc(), and mrpt::hmtslam::CHierarchicalMHMap::onArcAddition().

◆ CreateObject()

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

static

◆ duplicate()

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

virtual

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

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ getNodeFrom()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom ( ) const

inline

Return the starting node of the arc:

Definition at line 98 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

◆ getNodeTo()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo ( ) const

inline

Return the ending node of the arc:

Definition at line 102 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ onNodeDestruction()

void CHMHMapArc::onNodeDestruction ( CHMHMapNode * node )

protected

Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.

Definition at line 119 of file CHMHMapArc.cpp.

References AREAID_INVALID, mrpt::hmtslam::CHMHMapNode::getID(), m_nodeFrom, m_nodeTo, MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::hmtslam::CHMHMapArc::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator delete() [2/3]

void mrpt::hmtslam::CHMHMapArc::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator delete() [3/3]

void mrpt::hmtslam::CHMHMapArc::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator delete[]()

void mrpt::hmtslam::CHMHMapArc::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator new() [1/3]

void* mrpt::hmtslam::CHMHMapArc::operator new ( size_t size )

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 37 of file CHMHMapArc.h.

◆ operator new() [3/3]

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

inline

Definition at line 37 of file CHMHMapArc.h.

◆ operator new[]()

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

inline

Definition at line 37 of file CHMHMapArc.h.

◆ readFromStream()

void CHMHMapArc::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

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 148 of file CHMHMapArc.cpp.

References ASSERTMSG_, m_annotations, m_arcType, m_hypotheses, m_nodeFrom, m_nodeTo, m_parent, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::utils::CTypeSelector::setType(), 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 CHMHMapArc::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

out	The output binary stream where object must be dumped.
getVersion	If 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::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 134 of file CHMHMapArc.cpp.

References mrpt::utils::CTypeSelector::getType(), m_annotations, m_arcType, m_hypotheses, m_nodeFrom, m_nodeTo, and version.

Friends And Related Function Documentation

◆ CHierarchicalMapMHPartition

friend class CHierarchicalMapMHPartition

friend

Definition at line 33 of file CHMHMapArc.h.

◆ CHierarchicalMHMap

friend class CHierarchicalMHMap

friend

Definition at line 31 of file CHMHMapArc.h.

◆ CHMHMapNode

friend class CHMHMapNode

friend

Definition at line 32 of file CHMHMapArc.h.

◆ TArcList

friend class TArcList

friend

Definition at line 34 of file CHMHMapArc.h.

Member Data Documentation

◆ _init_CHMHMapArc

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMHMapArc::_init_CHMHMapArc

staticprotected

Definition at line 37 of file CHMHMapArc.h.

◆ classCHMHMapArc

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMHMapArc::classCHMHMapArc

static

Definition at line 37 of file CHMHMapArc.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.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::CHMHMapArc::classinfo

static

Definition at line 37 of file CHMHMapArc.h.

◆ m_annotations

utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapArc::m_annotations

The annotations of the arc, see the general description of the class for possible properties and values.

Definition at line 113 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

◆ m_arcType

utils::CTypeSelector mrpt::hmtslam::CHMHMapArc::m_arcType

The type of the arc, the possibilities are:

"Membership": for abstractions
"Navegability"
"RelativePose"

Definition at line 109 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapArc::m_hypotheses

The hypothesis IDs under which this arc exists.

Definition at line 42 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

◆ m_nodeFrom

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeFrom

protected

The origin/target nodes for this arc.

Definition at line 47 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), readFromStream(), writeToStream(), and ~CHMHMapArc().

◆ m_nodeTo

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeTo

protected

Definition at line 47 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), readFromStream(), writeToStream(), and ~CHMHMapArc().

◆ m_parent

mrpt::utils::safe_ptr<CHierarchicalMHMap> mrpt::hmtslam::CHMHMapArc::m_parent

protected

The hierarchical graph in which this object is into.

Definition at line 50 of file CHMHMapArc.h.

Referenced by readFromStream(), and ~CHMHMapArc().

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CHMHMapArc() [1/2]

◆ CHMHMapArc() [2/2]

◆ ~CHMHMapArc()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create() [1/3]

◆ Create() [2/3]

◆ Create() [3/3]

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getNodeFrom()

◆ getNodeTo()

◆ GetRuntimeClass()

◆ onNodeDestruction()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ CHierarchicalMapMHPartition

◆ CHierarchicalMHMap

◆ CHMHMapNode

◆ TArcList

Member Data Documentation

◆ _init_CHMHMapArc

◆ classCHMHMapArc

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ m_annotations

◆ m_arcType

◆ m_hypotheses

◆ m_nodeFrom

◆ m_nodeTo

◆ m_parent