[mrpt-hmtslam]

Detailed Description

Hybrid Metric-Topological (HMT) SLAM implementation.

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Library `mrpt-hmtslam`

This C++ library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-hmtslam-dev

See: Using MRPT from your CMake project

This library includes an implementation of the HMT-SLAM framework. See the list of classes in mrpt::hmtslam, and the application hmt-slam-gui.

NOTE:** For new designs, it is recommended to either try the more modern alternatives:

• MOLA
  • [mrpt-graphslam]

Classes
class	mrpt::hmtslam::CHierarchicalMapMHPartition
	Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHierarchicalMHMap
	The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
class	mrpt::hmtslam::CHMHMapArc
	A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMHMapNode
	A class for representing a node in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMTSLAM
	An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
class	mrpt::hmtslam::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	mrpt::hmtslam::CMHPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...
class	mrpt::hmtslam::CPropertiesValuesList
	An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. More...
class	mrpt::hmtslam::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	mrpt::hmtslam::CTopLCDetector_FabMap
class	mrpt::hmtslam::CTopLCDetector_GridMatching
class	mrpt::hmtslam::CTopLCDetectorBase
	The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
class	mrpt::hmtslam::THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...

Namespaces
	mrpt::hmtslam
	Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.