mrpt::hmtslam::CLSLAMParticleData Class Reference

Detailed Description

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).

Definition at line 44 of file CLocalMetricHypothesis.h.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMParticleData:

Public Member Functions
	CLSLAMParticleData (const mrpt::maps::TSetOfMetricMapInitializers *mapsInitializers=nullptr)
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
mrpt::maps::CMultiMetricMap	metricMaps
TMapPoseID2Pose3D	robotPoses

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 ::CLSLAMParticleData >
using	ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CLSLAMParticleData >
using	UniquePtr = std::unique_ptr< mrpt::hmtslam ::CLSLAMParticleData >
using	ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CLSLAMParticleData >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::hmtslam" "::" "CLSLAMParticleData"
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::CLSLAMParticleData::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CLSLAMParticleData >

Definition at line 46 of file CLocalMetricHypothesis.h.

ConstUniquePtr

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

Definition at line 46 of file CLocalMetricHypothesis.h.

Ptr

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

A type for the associated smart pointer

Definition at line 46 of file CLocalMetricHypothesis.h.

UniquePtr

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

Definition at line 46 of file CLocalMetricHypothesis.h.

Constructor & Destructor Documentation

CLSLAMParticleData()

mrpt::hmtslam::CLSLAMParticleData::CLSLAMParticleData ( const mrpt::maps::TSetOfMetricMapInitializers *  mapsInitializers = nullptr )

inline

Definition at line 49 of file CLocalMetricHypothesis.h.

Member Function Documentation

_GetBaseClass()

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

staticprotected

clone()

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

overridevirtual

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

Implements mrpt::rtti::CObject.

Create()

template<typename... Args>

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

inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

CreateObject()

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

static

CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.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::CLSLAMParticleData::getClassName ( )

inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLSLAMParticleData::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::CLSLAMParticleData::GetRuntimeClassIdStatic ( )

static

serializeFrom() [1/2]

void CLSLAMParticleData::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 948 of file CLocalMetricHypothesis.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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 CLSLAMParticleData::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 963 of file CLocalMetricHypothesis.cpp.

serializeTo() [1/2]

void CLSLAMParticleData::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 964 of file CLocalMetricHypothesis.cpp.

References out.

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::CLSLAMParticleData::className = "mrpt::hmtslam" "::" "CLSLAMParticleData"

static

Definition at line 46 of file CLocalMetricHypothesis.h.

metricMaps

mrpt::maps::CMultiMetricMap mrpt::hmtslam::CLSLAMParticleData::metricMaps

Definition at line 56 of file CLocalMetricHypothesis.h.

robotPoses

TMapPoseID2Pose3D mrpt::hmtslam::CLSLAMParticleData::robotPoses

Definition at line 57 of file CLocalMetricHypothesis.h.

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CLSLAMParticleData::runtimeClassId

staticprotected

Definition at line 46 of file CLocalMetricHypothesis.h.