Detailed Description

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.

Definition at line 37 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:

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 ()

void	insertIntoMetricMap (mrpt::maps::CMultiMetricMap &metricMap) const
	Insert all the observations in the map (without erasing previous contents). More...

void	convertIntoSimplemap (mrpt::maps::CSimpleMap &out_simplemap) const
	Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. 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)

Public Attributes
K	keys
	STL member. More...

T	elements
	STL member. More...

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

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

Protected Member Functions
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...

RTTI stuff
typedef CRobotPosesGraphPtr	Ptr

typedef CRobotPosesGraphPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CRobotPosesGraph

static mrpt::utils::TRuntimeClassId	classCRobotPosesGraph

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 CRobotPosesGraphPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::ConstPtr

Definition at line 40 of file CRobotPosesGraph.h.

◆ Ptr

typedef CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::Ptr

A typedef for the associated smart pointer

Definition at line 40 of file CRobotPosesGraph.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ convertIntoSimplemap()

void CRobotPosesGraph::convertIntoSimplemap ( mrpt::maps::CSimpleMap & out_simplemap ) const

Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.

Definition at line 91 of file CRobotPosesGraph.cpp.

References begin(), mrpt::maps::CSimpleMap::clear(), and mrpt::maps::CSimpleMap::insert().

◆ Create()

static CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::Create ( )

static

◆ CreateObject()

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

static

◆ duplicate()

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

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ insertIntoMetricMap()

void CRobotPosesGraph::insertIntoMetricMap ( mrpt::maps::CMultiMetricMap & metricMap ) const

Insert all the observations in the map (without erasing previous contents).

Definition at line 78 of file CRobotPosesGraph.cpp.

References begin().

◆ operator delete() [1/3]

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete() [2/3]

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete() [3/3]

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator delete[]()

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [1/3]

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new() [3/3]

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ operator new[]()

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

inline

Definition at line 40 of file CRobotPosesGraph.h.

◆ readFromStream()

void CRobotPosesGraph::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 47 of file CRobotPosesGraph.cpp.

References mrpt::utils::clear(), info, 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 CRobotPosesGraph::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 26 of file CRobotPosesGraph.cpp.

References begin(), and version.

Member Data Documentation

◆ _init_CRobotPosesGraph

mrpt::utils::CLASSINIT mrpt::hmtslam::CRobotPosesGraph::_init_CRobotPosesGraph

staticprotected

Definition at line 40 of file CRobotPosesGraph.h.

◆ classCObject

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

staticinherited

Definition at line 118 of file CObject.h.

◆ classCRobotPosesGraph

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::classCRobotPosesGraph

static

Definition at line 40 of file CRobotPosesGraph.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::CRobotPosesGraph::classinfo

static

Definition at line 40 of file CRobotPosesGraph.h.

◆ elements

T std::map< K, T >::elements

inherited

STL member.

◆ keys

K std::map< K, T >::keys

inherited

STL member.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ convertIntoSimplemap()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ GetRuntimeClass()

◆ insertIntoMetricMap()

◆ 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()

Member Data Documentation

◆ _init_CRobotPosesGraph

◆ classCObject

◆ classCRobotPosesGraph

◆ classCSerializable

◆ classinfo

◆ elements

◆ keys