Detailed Description

Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map.

A usar will never create an instance of this class, rather it will employ CHierarchicalMHMap.

See also: CHierarchicalMHMap, CHMHMapArc, CHMHMapNode

Definition at line 34 of file CHierarchicalMapMHPartition.h.

#include <mrpt/hmtslam/CHierarchicalMapMHPartition.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMapMHPartition:

Public Types
typedef TNodeList::iterator	iterator

typedef TNodeList::const_iterator	const_iterator

typedef std::vector< CHMHMapNode::TNodeID >	TNodeIDsList
	A type that reprensents a sequence of node IDs. More...

Public Member Functions
const_iterator	begin () const
	Returns an iterator to the first node in the graph. More...

iterator	begin ()
	Returns an iterator to the first node in the graph. More...

const_iterator	end () const
	Returns an iterator to the end of the list of nodes in the graph. More...

iterator	end ()
	Returns an iterator to the end of the list of nodes in the graph. More...

	CHierarchicalMapMHPartition ()

size_t	nodeCount () const
	Returns the number of nodes in the partition: More...

size_t	arcCount () const
	Returns the number of arcs in the partition: More...

CHMHMapNodePtr	getFirstNode ()
	Returns the first node in the graph, or NULL if it does not exist. More...

CHMHMapNodePtr	getNodeByID (CHMHMapNode::TNodeID id)
	Returns the node with the given ID, or NULL if it does not exist. More...

const CHMHMapNodePtr	getNodeByID (CHMHMapNode::TNodeID id) const
	Returns the node with the given ID, or NULL if it does not exist. More...

CHMHMapNodePtr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID)
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. More...

const CHMHMapNodePtr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. More...

void	saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const
	Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) More...

void	saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const
	Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. More...

void	saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const
	Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: More...

void	findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const
	The Dijkstra algorithm for finding the shortest path between a pair of nodes. More...

void	computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, mrpt::poses::CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=mrpt::utils::DEG2RAD(0.1)) const
	Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. More...

float	computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, mrpt::poses::CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300)
	Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". More...

void	findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const
	Returns all the arcs between a pair of nodes: More...

void	findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const
	Returns the arcs between a pair of nodes of a given type. More...

CHMHMapArcPtr	findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const
	Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. More...

bool	areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=NULL) const
	Returns whether two nodes are "neightbour", i.e. More...

void	computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian > > > &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const
	This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. More...

void	getAs3DScene (mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const
	Returns a 3D scene reconstruction of the hierarchical map. More...

void	dumpAsText (utils::CStringList &s) const
	Return a textual description of the whole graph. More...

double	computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const
	Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. More...

Protected Attributes
TNodeList	m_nodes
	The internal list of nodes and arcs in the whole hierarchical model. More...

TArcList	m_arcs

Member Typedef Documentation

◆ const_iterator

typedef TNodeList::const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator

Definition at line 46 of file CHierarchicalMapMHPartition.h.

◆ iterator

typedef TNodeList::iterator mrpt::hmtslam::CHierarchicalMapMHPartition::iterator

Definition at line 45 of file CHierarchicalMapMHPartition.h.

◆ TNodeIDsList

typedef std::vector<CHMHMapNode::TNodeID> mrpt::hmtslam::CHierarchicalMapMHPartition::TNodeIDsList

A type that reprensents a sequence of node IDs.

Definition at line 66 of file CHierarchicalMapMHPartition.h.

Constructor & Destructor Documentation

◆ CHierarchicalMapMHPartition()

mrpt::hmtslam::CHierarchicalMapMHPartition::CHierarchicalMapMHPartition ( )

inline

Definition at line 61 of file CHierarchicalMapMHPartition.h.

Member Function Documentation

◆ arcCount()

size_t CHierarchicalMapMHPartition::arcCount ( ) const

Returns the number of arcs in the partition:

Definition at line 49 of file CHierarchicalMapMHPartition.cpp.

◆ areNodesNeightbour()

bool CHierarchicalMapMHPartition::areNodesNeightbour	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		const char *	requiredAnnotation = `NULL`
	)		const

Returns whether two nodes are "neightbour", i.e.

have a direct arc between them

Definition at line 1050 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ begin() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) const

inline

Returns an iterator to the first node in the graph.

Definition at line 49 of file CHierarchicalMapMHPartition.h.

◆ begin() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( )

inline

Returns an iterator to the first node in the graph.

Definition at line 52 of file CHierarchicalMapMHPartition.h.

◆ computeCoordinatesTransformationBetweenNodes()

void CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		mrpt::poses::CPose3DPDFParticles &	posePDF,
		const THypothesisID &	hypothesisID,
		unsigned int	particlesCount = `100`,
		float	additionalNoiseXYratio = `0.02`,
		float	additionalNoisePhiRad = `mrpt::utils::DEG2RAD(0.1)`
	)		const

Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.

Exceptions

std::exception If there is not enought information in arcs to compute the PDF

See also: computeGloballyConsistentNodeCoordinates

Definition at line 846 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_REF_POSEID, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::normalizeWeights(), mrpt::random::randomGenerator, and mrpt::poses::CPose3DPDFParticles::resetDeterministic().

◆ computeGloballyConsistentNodeCoordinates()

void CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates	(	std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian > > > &	nodePoses,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterations = `2`
	)		const

This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.

Global coordinates will be computed relative to the node "idReferenceNode".

Exceptions

std::exception If there is any node without a pose arc, invalid (non invertible) matrixes, etc...

See also: computeCoordinatesTransformationBetweenNodes

Definition at line 1281 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::insertEdgeAtEnd(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::graphslam::optimize_graph_spa_levmarq(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root.

◆ computeMatchProbabilityBetweenNodes()

float CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		float &	maxMatchProb,
		mrpt::poses::CPose3DPDFSOG &	estimatedRelativePose,
		const THypothesisID &	hypothesisID,
		unsigned int	monteCarloSamplesPose = `300`
	)

Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".

Definition at line 963 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ computeOverlapProbabilityBetweenNodes()

double CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		const size_t &	monteCarloSamples = `100`,
		const float	margin_to_substract = `6`
	)		const

Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.

Exceptions

std::exception If there is not enought information in arcs, etc...

Parameters

margin_to_substract In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.

Definition at line 1509 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, and mrpt::math::RectanglesIntersection().

◆ dumpAsText()

void CHierarchicalMapMHPartition::dumpAsText ( utils::CStringList & s ) const

Return a textual description of the whole graph.

Definition at line 1354 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::utils::CStringList::clear(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), RAD2DEG, mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

◆ end() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) const

inline

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 55 of file CHierarchicalMapMHPartition.h.

◆ end() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( )

inline

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 58 of file CHierarchicalMapMHPartition.h.

◆ findArcOfTypeBetweenNodes()

CHMHMapArcPtr CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		bool &	isInverted
	)		const

Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.

Returns: The arc, or NULL if not found.

Definition at line 1474 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsBetweenNodes()

void CHierarchicalMapMHPartition::findArcsBetweenNodes	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		TArcList &	out_listArcs
	)		const

Returns all the arcs between a pair of nodes:

Definition at line 985 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsOfTypeBetweenNodes()

void CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		TArcList &	ret
	)		const

Returns the arcs between a pair of nodes of a given type.

Definition at line 1016 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findPathBetweenNodes()

void CHierarchicalMapMHPartition::findPathBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		TArcList &	out_path,
		bool	direction = `false`
	)		const

The Dijkstra algorithm for finding the shortest path between a pair of nodes.

Returns: The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.

Definition at line 721 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, ASSERTMSG_, MRPT_END, and MRPT_START.

◆ getAs3DScene()

void CHierarchicalMapMHPartition::getAs3DScene	(	mrpt::opengl::COpenGLScene &	outScene,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterationsForOptimalGlobalPoses = `5`,
		const bool &	showRobotPoseIDs = `true`
	)		const

Returns a 3D scene reconstruction of the hierarchical map.

See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"

Definition at line 1088 of file CHierarchicalMapMHPartition.cpp.

References mrpt::poses::CPose3D::addComponents(), mrpt::opengl::COpenGLScene::clear(), mrpt::opengl::CSimpleLine::Create(), mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CSphere::Create(), mrpt::opengl::CDisk::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::CText::Create(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, mrpt::poses::CPose3D::normalizeAngles(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

◆ getFirstNode()

CHMHMapNodePtr CHierarchicalMapMHPartition::getFirstNode ( )

Returns the first node in the graph, or NULL if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 122 of file CHierarchicalMapMHPartition.cpp.

◆ getNodeByID() [1/2]

CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id )

Returns the node with the given ID, or NULL if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 58 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMHMapArc::Create().

◆ getNodeByID() [2/2]

const CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id ) const

Returns the node with the given ID, or NULL if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 71 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

◆ getNodeByLabel() [1/2]

CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 85 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

◆ getNodeByLabel() [2/2]

const CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)		const

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 103 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

◆ nodeCount()

size_t CHierarchicalMapMHPartition::nodeCount ( ) const

Returns the number of nodes in the partition:

Definition at line 41 of file CHierarchicalMapMHPartition.cpp.

◆ saveAreasDiagramForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID
	)		const

Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)

The partition may be empty if no node fulfills the condition.
All arcs STARTING at each node from the partition will be added to the partition as well.
Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.
See also
CHMHMapArcSaves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.

If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 132 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

◆ saveAreasDiagramWithEllipsedForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		float	uncertaintyExagerationFactor = `1.0f`,
		bool	drawArcs = `false`,
		unsigned int	numberOfIterationsForOptimalGlobalPoses = `4`
	)		const

Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.

ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 305 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

◆ saveGlobalMapForMATLAB()

void CHierarchicalMapMHPartition::saveGlobalMapForMATLAB	(	const std::string &	filName,
		const THypothesisID &	hypothesisID,
		const CHMHMapNode::TNodeID &	idReferenceNode
	)		const

Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 479 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

Member Data Documentation

◆ m_arcs

TArcList mrpt::hmtslam::CHierarchicalMapMHPartition::m_arcs

protected

Definition at line 41 of file CHierarchicalMapMHPartition.h.

◆ m_nodes

TNodeList mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes

protected

The internal list of nodes and arcs in the whole hierarchical model.

The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.

Definition at line 40 of file CHierarchicalMapMHPartition.h.

Detailed Description

Public Types

Public Member Functions

Protected Attributes

Member Typedef Documentation

◆ const_iterator

◆ iterator

◆ TNodeIDsList

Constructor & Destructor Documentation

◆ CHierarchicalMapMHPartition()

Member Function Documentation

◆ arcCount()

◆ areNodesNeightbour()

◆ begin() [1/2]

◆ begin() [2/2]

◆ computeCoordinatesTransformationBetweenNodes()

◆ computeGloballyConsistentNodeCoordinates()

◆ computeMatchProbabilityBetweenNodes()

◆ computeOverlapProbabilityBetweenNodes()

◆ dumpAsText()

◆ end() [1/2]

◆ end() [2/2]

◆ findArcOfTypeBetweenNodes()

◆ findArcsBetweenNodes()

◆ findArcsOfTypeBetweenNodes()

◆ findPathBetweenNodes()

◆ getAs3DScene()

◆ getFirstNode()

◆ getNodeByID() [1/2]

◆ getNodeByID() [2/2]

◆ getNodeByLabel() [1/2]

◆ getNodeByLabel() [2/2]

◆ nodeCount()

◆ saveAreasDiagramForMATLAB()

◆ saveAreasDiagramWithEllipsedForMATLAB()

◆ saveGlobalMapForMATLAB()

Member Data Documentation

◆ m_arcs

◆ m_nodes