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 36 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:

Public Member Functions
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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
K	keys
	STL member. More...

T	elements
	STL member. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::hmtslam ::CRobotPosesGraph >

using	ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CRobotPosesGraph >

using	UniquePtr = std::unique_ptr< mrpt::hmtslam ::CRobotPosesGraph >

using	ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CRobotPosesGraph >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::hmtslam" "::" "CRobotPosesGraph"

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

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::hmtslam::CRobotPosesGraph::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CRobotPosesGraph >

Definition at line 39 of file CRobotPosesGraph.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CRobotPosesGraph::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CRobotPosesGraph >

Definition at line 39 of file CRobotPosesGraph.h.

◆ Ptr

using mrpt::hmtslam::CRobotPosesGraph::Ptr = std::shared_ptr< mrpt::hmtslam :: CRobotPosesGraph >

A type for the associated smart pointer

Definition at line 39 of file CRobotPosesGraph.h.

◆ UniquePtr

using mrpt::hmtslam::CRobotPosesGraph::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CRobotPosesGraph >

Definition at line 39 of file CRobotPosesGraph.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CRobotPosesGraph::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ 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 73 of file CRobotPosesGraph.cpp.

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

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◆ Create()

template<typename... Args>

static Ptr mrpt::hmtslam::CRobotPosesGraph::Create ( Args &&... args )

inlinestatic

Definition at line 39 of file CRobotPosesGraph.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::hmtslam::CRobotPosesGraph::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 39 of file CRobotPosesGraph.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CRobotPosesGraph::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::hmtslam::CRobotPosesGraph::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 39 of file CRobotPosesGraph.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::hmtslam::CRobotPosesGraph::getClassName ( )

inlinestatic

Definition at line 39 of file CRobotPosesGraph.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CRobotPosesGraph::GetRuntimeClassIdStatic ( )

static

◆ insertIntoMetricMap()

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

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

Definition at line 60 of file CRobotPosesGraph.cpp.

◆ serializeFrom() [1/2]

void CRobotPosesGraph::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 30 of file CRobotPosesGraph.cpp.

References mrpt::containers::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::hmtslam::TPoseInfo::pdf, and mrpt::hmtslam::TPoseInfo::sf.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CRobotPosesGraph::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 22 of file CRobotPosesGraph.cpp.

◆ serializeTo() [1/2]

void CRobotPosesGraph::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 23 of file CRobotPosesGraph.cpp.

References out, and mrpt::math::size().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CRobotPosesGraph::className = "mrpt::hmtslam" "::" "CRobotPosesGraph"

static

Definition at line 39 of file CRobotPosesGraph.h.

◆ elements

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

inherited

STL member.

◆ keys

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

inherited

STL member.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::runtimeClassId

staticprotected

Definition at line 39 of file CRobotPosesGraph.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ convertIntoSimplemap()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insertIntoMetricMap()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ elements

◆ keys

◆ runtimeClassId