Detailed Description

A class for representing a node in a hierarchical, multi-hypothesis map.

The node 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,CHMHMapArc

Definition at line 37 of file CHMHMapNode.h.

#include <mrpt/hmtslam/CHMHMapNode.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapNode:

Public Types
typedef mrpt::utils::TNodeID	TNodeID
	The type of the IDs of nodes. More...

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	~CHMHMapNode ()
	Destructor. More...

TNodeID	getID () const
	Reads the ID of the node (read-only property) More...

unsigned int	getLevelInTheHierarchy ()
	Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc. More...

unsigned int	getRelatedArcsCount ()
	Returns the number of arcs starting from/ending into this node. More...

void	getArcs (TArcList &out) const
	Returns a list with the arcs from/to this node. More...

void	getArcs (TArcList &out, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID. More...

void	getArcs (TArcList &out, const char *arcType, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type. More...

bool	isNeighbor (const TNodeID &otherArea, const THypothesisID &hyp_id) const
	Check whether an arc exists towards the given area. 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 CHMHMapNodePtr	Create (CHierarchicalMHMap *parent=NULL, const THypothesisIDSet &hyps=THypothesisIDSet())
	Class factory. More...

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

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

utils::CTypeSelector	m_nodeType
	The type of the node, the possibilities are: More...

std::string	m_label
	The label of the node, only for display it to the user. More...

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

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

Protected Member Functions
void	onArcDestruction (CHMHMapArc *arc)
	Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects. More...

void	onArcAddition (CHMHMapArcPtr &arc)
	Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects. 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
TNodeID	m_ID
	An unique identifier for the node: it is randomly generated at construction or read from stream when loaded. More...

TArcList	m_arcs
	The list of all arcs from/to this node: More...

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

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

Friends
class HMTSLAM_IMPEXP	CHierarchicalMHMap

class HMTSLAM_IMPEXP	CHierarchicalMHMapPartition

class HMTSLAM_IMPEXP	CHMHMapArc

RTTI stuff
typedef CHMHMapNodePtr	Ptr

typedef CHMHMapNodePtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CHMHMapNode

static mrpt::utils::TRuntimeClassId	classCHMHMapNode

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 CHMHMapNodePtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::ConstPtr

Definition at line 44 of file CHMHMapNode.h.

◆ Ptr

typedef CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Ptr

A typedef for the associated smart pointer

Definition at line 44 of file CHMHMapNode.h.

◆ TNodeID

typedef mrpt::utils::TNodeID mrpt::hmtslam::CHMHMapNode::TNodeID

The type of the IDs of nodes.

Definition at line 49 of file CHMHMapNode.h.

Constructor & Destructor Documentation

◆ CHMHMapNode()

CHMHMapNode::CHMHMapNode	(	CHierarchicalMHMap *	parent = `NULL`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`
	)

private

Private constructor (see ::Create class factory)

Definition at line 24 of file CHMHMapNode.cpp.

◆ ~CHMHMapNode()

CHMHMapNode::~CHMHMapNode ( )

virtual

Destructor.

Definition at line 63 of file CHMHMapNode.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create() [1/2]

static CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Create ( )

static

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap().

◆ Create() [2/2]

CHMHMapNodePtr CHMHMapNode::Create	(	CHierarchicalMHMap *	parent = `NULL`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`
	)

static

Class factory.

Definition at line 50 of file CHMHMapNode.cpp.

References mrpt::hmtslam::CHMHMapNode, and mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition().

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapNode::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().

◆ getArcs() [1/3]

void mrpt::hmtslam::CHMHMapNode::getArcs ( TArcList & out ) const

inline

Returns a list with the arcs from/to this node.

Definition at line 125 of file CHMHMapNode.h.

◆ getArcs() [2/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID.

Definition at line 202 of file CHMHMapNode.cpp.

◆ getArcs() [3/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const char *	arcType,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.

Definition at line 214 of file CHMHMapNode.cpp.

◆ getID()

CHMHMapNode::TNodeID CHMHMapNode::getID ( ) const

Reads the ID of the node (read-only property)

Definition at line 164 of file CHMHMapNode.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction(), and mrpt::hmtslam::CHMHMapArc::onNodeDestruction().

◆ getLevelInTheHierarchy()

unsigned int CHMHMapNode::getLevelInTheHierarchy ( )

Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.

Definition at line 172 of file CHMHMapNode.cpp.

◆ getRelatedArcsCount()

unsigned int CHMHMapNode::getRelatedArcsCount ( )

Returns the number of arcs starting from/ending into this node.

Definition at line 194 of file CHMHMapNode.cpp.

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ isNeighbor()

bool CHMHMapNode::isNeighbor	(	const TNodeID &	otherArea,
		const THypothesisID &	hyp_id
	)		const

Check whether an arc exists towards the given area.

Definition at line 225 of file CHMHMapNode.cpp.

◆ onArcAddition()

void CHMHMapNode::onArcAddition ( CHMHMapArcPtr & arc )

protected

Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.

Definition at line 146 of file CHMHMapNode.cpp.

References MRPT_END, and MRPT_START.

◆ onArcDestruction()

void CHMHMapNode::onArcDestruction ( CHMHMapArc * arc )

protected

Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.

Note: At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Definition at line 124 of file CHMHMapNode.cpp.

References mrpt::hmtslam::CHMHMapArc::m_nodeFrom, mrpt::hmtslam::CHMHMapArc::m_nodeTo, MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator delete() [2/3]

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator delete() [3/3]

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator delete[]()

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator new() [1/3]

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator new() [2/3]

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 44 of file CHMHMapNode.h.

◆ operator new[]()

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

inline

Definition at line 44 of file CHMHMapNode.h.

◆ readFromStream()

void CHMHMapNode::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 97 of file CHMHMapNode.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, 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 CHMHMapNode::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 78 of file CHMHMapNode.cpp.

References version.

Friends And Related Function Documentation

◆ CHierarchicalMHMap

friend class HMTSLAM_IMPEXP CHierarchicalMHMap

friend

Definition at line 39 of file CHMHMapNode.h.

◆ CHierarchicalMHMapPartition

friend class HMTSLAM_IMPEXP CHierarchicalMHMapPartition

friend

Definition at line 40 of file CHMHMapNode.h.

◆ CHMHMapArc

friend class HMTSLAM_IMPEXP CHMHMapArc

friend

Definition at line 41 of file CHMHMapNode.h.

Member Data Documentation

◆ _init_CHMHMapNode

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMHMapNode::_init_CHMHMapNode

staticprotected

Definition at line 44 of file CHMHMapNode.h.

◆ classCHMHMapNode

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMHMapNode::classCHMHMapNode

static

Definition at line 44 of file CHMHMapNode.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::CHMHMapNode::classinfo

static

Definition at line 44 of file CHMHMapNode.h.

◆ m_annotations

utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapNode::m_annotations

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

Definition at line 97 of file CHMHMapNode.h.

◆ m_arcs

TArcList mrpt::hmtslam::CHMHMapNode::m_arcs

protected

The list of all arcs from/to this node:

Definition at line 62 of file CHMHMapNode.h.

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapNode::m_hypotheses

The hypothesis IDs under which this node exists.

Definition at line 53 of file CHMHMapNode.h.

◆ m_ID

TNodeID mrpt::hmtslam::CHMHMapNode::m_ID

protected

An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.

Definition at line 58 of file CHMHMapNode.h.

◆ m_label

std::string mrpt::hmtslam::CHMHMapNode::m_label

The label of the node, only for display it to the user.

Definition at line 113 of file CHMHMapNode.h.

◆ m_nodeType

utils::CTypeSelector mrpt::hmtslam::CHMHMapNode::m_nodeType

The type of the node, the possibilities are:

Place
Area
TopologicalMap
Object

Definition at line 105 of file CHMHMapNode.h.

◆ m_parent

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

protected

The hierarchical graph in which this object is into.

Definition at line 75 of file CHMHMapNode.h.

Detailed Description

Public Types

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

◆ TNodeID

Constructor & Destructor Documentation

◆ CHMHMapNode()

◆ ~CHMHMapNode()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create() [1/2]

◆ Create() [2/2]

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getArcs() [1/3]

◆ getArcs() [2/3]

◆ getArcs() [3/3]

◆ getID()

◆ getLevelInTheHierarchy()

◆ getRelatedArcsCount()

◆ GetRuntimeClass()

◆ isNeighbor()

◆ onArcAddition()

◆ onArcDestruction()

◆ 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

◆ CHierarchicalMHMap

◆ CHierarchicalMHMapPartition

◆ CHMHMapArc

Member Data Documentation

◆ _init_CHMHMapNode

◆ classCHMHMapNode

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ m_annotations

◆ m_arcs

◆ m_hypotheses

◆ m_ID

◆ m_label

◆ m_nodeType

◆ m_parent