namespace mrpt::hmtslam¶
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
namespace hmtslam { // typedefs typedef std::map<CHMHMapNode::TNodeID, std::shared_ptr<CHMHMapNode>> TNodeList; typedef mrpt::containers::list_searchable<CHMHMapNode::TNodeID> TNodeIDList; typedef std::set<CHMHMapNode::TNodeID> TNodeIDSet; typedef std::pair<CHMHMapNode::TNodeID, CHMHMapNode::TNodeID> TPairNodeIDs; typedef std::map<TPoseID, mrpt::poses::CPose3D> TMapPoseID2Pose3D; typedef int64_t THypothesisID; typedef uint64_t TPoseID; typedef std::pair<TPoseID, TPoseID> TPairPoseIDs; typedef std::vector<TPoseID> TPoseIDList; typedef std::set<TPoseID> TPoseIDSet; // structs struct TPoseInfo; struct TPropertyValueIDTriplet; // classes class CHMHMapArc; class CHMHMapNode; class CHMTSLAM; class CHierarchicalMHMap; class CHierarchicalMapMHPartition; class CLSLAMAlgorithmBase; class CLSLAMParticleData; class CLSLAM_RBPF_2DLASER; class CLocalMetricHypothesis; class CMHPropertiesValuesList; class CPropertiesValuesList; class CRobotPosesGraph; class CTopLCDetectorBase; class CTopLCDetector_FabMap; class CTopLCDetector_GridMatching; class TArcList; class THypothesisIDSet; } // namespace hmtslam
Typedefs¶
typedef std::map<CHMHMapNode::TNodeID, std::shared_ptr<CHMHMapNode>> TNodeList
A map between node IDs and nodes (used in HMT-SLAM).
See also:
typedef int64_t THypothesisID
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()
typedef uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
They can be generated from CHMTSLAM::generatePoseID()