MRPT
2.0.2
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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>
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... | |
using mrpt::hmtslam::CLSLAMParticleData::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CLSLAMParticleData > |
Definition at line 46 of file CLocalMetricHypothesis.h.
using mrpt::hmtslam::CLSLAMParticleData::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CLSLAMParticleData > |
Definition at line 46 of file CLocalMetricHypothesis.h.
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.
using mrpt::hmtslam::CLSLAMParticleData::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CLSLAMParticleData > |
Definition at line 46 of file CLocalMetricHypothesis.h.
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inline |
Definition at line 49 of file CLocalMetricHypothesis.h.
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inlinestatic |
Definition at line 46 of file CLocalMetricHypothesis.h.
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inlinestatic |
Definition at line 46 of file CLocalMetricHypothesis.h.
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static |
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inlinestatic |
Definition at line 46 of file CLocalMetricHypothesis.h.
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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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inlinestatic |
Definition at line 46 of file CLocalMetricHypothesis.h.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
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static |
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
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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. |
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.
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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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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.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 964 of file CLocalMetricHypothesis.cpp.
References out.
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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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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.
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.
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static |
Definition at line 46 of file CLocalMetricHypothesis.h.
mrpt::maps::CMultiMetricMap mrpt::hmtslam::CLSLAMParticleData::metricMaps |
Definition at line 56 of file CLocalMetricHypothesis.h.
TMapPoseID2Pose3D mrpt::hmtslam::CLSLAMParticleData::robotPoses |
Definition at line 57 of file CLocalMetricHypothesis.h.
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staticprotected |
Definition at line 46 of file CLocalMetricHypothesis.h.
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