Detailed Description

Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

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

class	CHierarchicalMHMap
	The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...

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

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

class	CHMTSLAM
	An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...

class	CLocalMetricHypothesis
	This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). More...

class	CLSLAM_RBPF_2DLASER
	Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...

class	CLSLAMAlgorithmBase
	Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More...

class	CLSLAMParticleData
	Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More...

class	CRobotPosesGraph
	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. More...

class	CTopLCDetector_FabMap

class	CTopLCDetector_GridMatching

class	CTopLCDetectorBase
	The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...

class	TArcList
	A class for storing a sequence of arcs (a path). More...

class	THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...

struct	TPoseInfo
	Information kept for each robot pose used in CRobotPosesGraph. More...

Typedefs
typedef std::map< CHMHMapNode::TNodeID, CHMHMapNodePtr >	TNodeList
	A map between node IDs and nodes (used in HMT-SLAM). More...

typedef mrpt::utils::list_searchable< CHMHMapNode::TNodeID >	TNodeIDList

typedef std::set< CHMHMapNode::TNodeID >	TNodeIDSet

typedef std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID >	TPairNodeIDs

typedef mrpt::aligned_containers< TPoseID, mrpt::poses::CPose3D >::map_t	TMapPoseID2Pose3D

typedef std::shared_ptr< CTopLCDetectorBase >	CTopLCDetectorBasePtr

typedef int64_t	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	TPoseID
	An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...

typedef std::pair< TPoseID, TPoseID >	TPairPoseIDs

typedef std::vector< TPoseID >	TPoseIDList

typedef std::set< TPoseID >	TPoseIDSet

Functions
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHMHMapNodePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHMTSLAMPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLSLAMParticleDataPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLocalMetricHypothesisPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CRobotPosesGraphPtr &pObj)

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

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

Variables
class HMTSLAM_IMPEXP	CHierarchicalMHMap

class HMTSLAM_IMPEXP	CHMHMapArc

class HMTSLAM_IMPEXP	CHMTSLAM

class HMTSLAM_IMPEXP	CLSLAM_RBPF_2DLASER

class HMTSLAM_IMPEXP	CHMHMapNode

Typedef Documentation

◆ CTopLCDetectorBasePtr

typedef std::shared_ptr<CTopLCDetectorBase> mrpt::hmtslam::CTopLCDetectorBasePtr

Definition at line 87 of file CTopLCDetectorBase.h.

◆ THypothesisID

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.

The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree". They can be generated from CHMTSLAM::generateHypothesisID()

Definition at line 60 of file HMT_SLAM_common.h.