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	CMHPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...

class	CPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. 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...

struct	TPropertyValueIDTriplet
	Internal triplet for each property in utils::CMHPropertiesValuesList. More...

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

using	TNodeIDList = mrpt::containers::list_searchable< CHMHMapNode::TNodeID >

using	TNodeIDSet = std::set< CHMHMapNode::TNodeID >

using	TPairNodeIDs = std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID >

using	TMapPoseID2Pose3D = std::map< TPoseID, mrpt::poses::CPose3D >

using	THypothesisID = int64_t
	An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. More...

using	TPoseID = uint64_t
	An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...

using	TPairPoseIDs = std::pair< TPoseID, TPoseID >

using	TPoseIDList = std::vector< TPoseID >

using	TPoseIDSet = std::set< TPoseID >

Typedef Documentation

◆ THypothesisID

using mrpt::hmtslam::THypothesisID = typedef int64_t

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 58 of file HMT_SLAM_common.h.