The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
This class is used within the HMT-SLAM implementation in CHMTSLAM.
Definition at line 29 of file CHierarchicalMHMap.h.
#include <mrpt/hmtslam/CHierarchicalMHMap.h>
Public Types | |
typedef TNodeList::iterator | iterator |
typedef TNodeList::const_iterator | const_iterator |
typedef std::vector< CHMHMapNode::TNodeID > | TNodeIDsList |
A type that reprensents a sequence of node IDs. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CHierarchicalMHMap () | |
Default constructor. More... | |
void | dumpAsXMLfile (std::string fileName) const |
Destructor. More... | |
void | loadFromXMLfile (std::string fileName) |
Load a graph from a XML file. More... | |
virtual | ~CHierarchicalMHMap () |
void | clear () |
Erase all the contents of map (It delete all nodes/arcs objects) More... | |
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... | |
const_iterator | begin () const |
Returns an iterator to the first node in the graph. More... | |
iterator | begin () |
Returns an iterator to the first node in the graph. More... | |
const_iterator | end () const |
Returns an iterator to the end of the list of nodes in the graph. More... | |
iterator | end () |
Returns an iterator to the end of the list of nodes in the graph. More... | |
size_t | nodeCount () const |
Returns the number of nodes in the partition: More... | |
size_t | arcCount () const |
Returns the number of arcs in the partition: More... | |
CHMHMapNode::Ptr | getFirstNode () |
Returns the first node in the graph, or nullptr if it does not exist. More... | |
CHMHMapNode::Ptr | getNodeByID (CHMHMapNode::TNodeID id) |
Returns the node with the given ID, or nullptr if it does not exist. More... | |
const CHMHMapNode::Ptr | getNodeByID (CHMHMapNode::TNodeID id) const |
Returns the node with the given ID, or nullptr if it does not exist. More... | |
CHMHMapNode::Ptr | getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) |
Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More... | |
const CHMHMapNode::Ptr | getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const |
Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More... | |
void | saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const |
Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) More... | |
void | saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const |
Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. More... | |
void | saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const |
Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: More... | |
void | findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const |
The Dijkstra algorithm for finding the shortest path between a pair of nodes. More... | |
void | computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, mrpt::poses::CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=mrpt::utils::DEG2RAD(0.1)) const |
Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. More... | |
float | computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, mrpt::poses::CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300) |
Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". More... | |
void | findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const |
Returns all the arcs between a pair of nodes: More... | |
void | findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const |
Returns the arcs between a pair of nodes of a given type. More... | |
CHMHMapArc::Ptr | findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const |
Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. More... | |
bool | areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=nullptr) const |
Returns whether two nodes are "neightbour", i.e. More... | |
void | computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian >>> &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const |
This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. More... | |
void | getAs3DScene (mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const |
Returns a 3D scene reconstruction of the hierarchical map. More... | |
void | dumpAsText (utils::CStringList &s) const |
Return a textual description of the whole graph. More... | |
double | computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const |
Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. More... | |
RTTI classes and functions | |
mrpt::utils::CObject::Ptr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Protected Member Functions | |
void | onNodeAddition (CHMHMapNode::Ptr &node) |
Event handler to be called just after a node has being created: it will be added to the internal list. More... | |
void | onArcAddition (CHMHMapArc::Ptr &arc) |
Event handler to be called just after an arc has being created: it will be added to the internal list. More... | |
void | onNodeDestruction (CHMHMapNode *node) |
Event handler to be called just before a node is being destroyed: it will be removed from the internal list. More... | |
void | onArcDestruction (CHMHMapArc *arc) |
Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Protected Attributes | |
TNodeList | m_nodes |
The internal list of nodes and arcs in the whole hierarchical model. More... | |
TArcList | m_arcs |
Friends | |
class | CHMHMapArc |
class | CHMHMapNode |
RTTI stuff | |
using | Ptr = std::shared_ptr< CHierarchicalMHMap > |
using | ConstPtr = std::shared_ptr< const CHierarchicalMHMap > |
static mrpt::utils::CLASSINIT | _init_CHierarchicalMHMap |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CHierarchicalMHMap" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
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inherited |
Definition at line 51 of file CHierarchicalMapMHPartition.h.
using mrpt::hmtslam::CHierarchicalMHMap::ConstPtr = std::shared_ptr<const CHierarchicalMHMap > |
Definition at line 35 of file CHierarchicalMHMap.h.
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inherited |
Definition at line 50 of file CHierarchicalMapMHPartition.h.
using mrpt::hmtslam::CHierarchicalMHMap::Ptr = std::shared_ptr< CHierarchicalMHMap > |
A typedef for the associated smart pointer
Definition at line 35 of file CHierarchicalMHMap.h.
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inherited |
A type that reprensents a sequence of node IDs.
Definition at line 64 of file CHierarchicalMapMHPartition.h.
CHierarchicalMHMap::CHierarchicalMHMap | ( | ) |
Default constructor.
Definition at line 26 of file CHierarchicalMHMap.cpp.
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Definition at line 30 of file CHierarchicalMHMap.cpp.
References mrpt::utils::clear().
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inherited |
Returns the number of arcs in the partition:
Definition at line 44 of file CHierarchicalMapMHPartition.cpp.
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Returns whether two nodes are "neightbour", i.e.
have a direct arc between them
Definition at line 1072 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, and MRPT_START.
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inlineinherited |
Returns an iterator to the first node in the graph.
Definition at line 54 of file CHierarchicalMapMHPartition.h.
References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.
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inlineinherited |
Returns an iterator to the first node in the graph.
Definition at line 56 of file CHierarchicalMapMHPartition.h.
References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.
void CHierarchicalMHMap::clear | ( | ) |
Erase all the contents of map (It delete all nodes/arcs objects)
Definition at line 34 of file CHierarchicalMHMap.cpp.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inherited |
Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.
std::exception | If there is not enought information in arcs to compute the PDF |
Definition at line 865 of file CHierarchicalMapMHPartition.cpp.
References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::random::getRandomGenerator(), mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_REF_POSEID, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::normalizeWeights(), and mrpt::poses::CPose3DPDFParticles::resetDeterministic().
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inherited |
This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.
Global coordinates will be computed relative to the node "idReferenceNode".
std::exception | If there is any node without a pose arc, invalid (non invertible) matrixes, etc... |
Definition at line 1328 of file CHierarchicalMapMHPartition.cpp.
References ARC_ANNOTATION_DELTA, mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::insertEdgeAtEnd(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::graphslam::optimize_graph_spa_levmarq(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root.
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Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".
Definition at line 994 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.
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inherited |
Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.
std::exception | If there is not enought information in arcs, etc... |
margin_to_substract | In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps. |
Definition at line 1583 of file CHierarchicalMapMHPartition.cpp.
References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, and mrpt::math::RectanglesIntersection().
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inlinestatic |
Definition at line 35 of file CHierarchicalMHMap.h.
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Return a textual description of the whole graph.
Definition at line 1408 of file CHierarchicalMapMHPartition.cpp.
References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::utils::CStringList::clear(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), RAD2DEG, mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
void CHierarchicalMHMap::dumpAsXMLfile | ( | std::string | fileName | ) | const |
Destructor.
Save the whole graph as a XML file
Definition at line 291 of file CHierarchicalMHMap.cpp.
References ASSERT_, mrpt::poses::CPoint< DERIVEDCLASS >::asString(), mrpt::utils::CSimpleDatabase::createTable(), mrpt::format(), IS_CLASS, mrpt::utils::ObjectToString(), and mrpt::utils::CSimpleDatabase::saveAsXML().
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inlineinherited |
Returns an iterator to the end of the list of nodes in the graph.
Definition at line 58 of file CHierarchicalMapMHPartition.h.
References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.
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inlineinherited |
Returns an iterator to the end of the list of nodes in the graph.
Definition at line 60 of file CHierarchicalMapMHPartition.h.
References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.
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Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.
Definition at line 1549 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, and MRPT_START.
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Returns all the arcs between a pair of nodes:
Definition at line 1013 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, and MRPT_START.
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Returns the arcs between a pair of nodes of a given type.
Definition at line 1042 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, and MRPT_START.
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The Dijkstra algorithm for finding the shortest path between a pair of nodes.
Definition at line 735 of file CHierarchicalMapMHPartition.cpp.
References ASSERT_, ASSERTMSG_, MRPT_END, and MRPT_START.
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Returns a 3D scene reconstruction of the hierarchical map.
See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"
Definition at line 1108 of file CHierarchicalMapMHPartition.cpp.
References mrpt::poses::CPose3D::addComponents(), mrpt::opengl::COpenGLScene::clear(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, mrpt::poses::CPose3D::normalizeAngles(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
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Returns the first node in the graph, or nullptr if it does not exist.
Definition at line 118 of file CHierarchicalMapMHPartition.cpp.
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Returns the node with the given ID, or nullptr if it does not exist.
Definition at line 48 of file CHierarchicalMapMHPartition.cpp.
References AREAID_INVALID, MRPT_END, and MRPT_START.
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inherited |
Returns the node with the given ID, or nullptr if it does not exist.
Definition at line 62 of file CHierarchicalMapMHPartition.cpp.
References AREAID_INVALID, MRPT_END, and MRPT_START.
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Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.
Definition at line 77 of file CHierarchicalMapMHPartition.cpp.
References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.
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inherited |
Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.
Definition at line 97 of file CHierarchicalMapMHPartition.cpp.
References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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static |
void CHierarchicalMHMap::loadFromXMLfile | ( | std::string | fileName | ) |
Load a graph from a XML file.
Definition at line 184 of file CHierarchicalMHMap.cpp.
References COMMON_TOPOLOG_HYP, mrpt::utils::CSimpleDatabase::getTable(), mrpt::utils::CSimpleDatabase::loadFromXML(), NODE_ANNOTATION_PLACE_POSE, and mrpt::system::tokenize().
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Returns the number of nodes in the partition:
Definition at line 40 of file CHierarchicalMapMHPartition.cpp.
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Event handler to be called just after an arc has being created: it will be added to the internal list.
Definition at line 172 of file CHierarchicalMHMap.cpp.
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Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.
Definition at line 140 of file CHierarchicalMHMap.cpp.
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Event handler to be called just after a node has being created: it will be added to the internal list.
Definition at line 151 of file CHierarchicalMHMap.cpp.
References ASSERT_.
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Event handler to be called just before a node is being destroyed: it will be removed from the internal list.
Definition at line 127 of file CHierarchicalMHMap.cpp.
References mrpt::hmtslam::CHMHMapNode::getID().
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inlinenoexcept |
Definition at line 35 of file CHierarchicalMHMap.h.
Definition at line 35 of file CHierarchicalMHMap.h.
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inlinenoexcept |
Definition at line 35 of file CHierarchicalMHMap.h.
Definition at line 35 of file CHierarchicalMHMap.h.
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inlinenoexcept |
Definition at line 35 of file CHierarchicalMHMap.h.
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inline |
Definition at line 35 of file CHierarchicalMHMap.h.
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inlinestatic |
Definition at line 35 of file CHierarchicalMHMap.h.
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inline |
Definition at line 35 of file CHierarchicalMHMap.h.
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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 error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 85 of file CHierarchicalMHMap.cpp.
References mrpt::utils::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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inherited |
Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)
Definition at line 129 of file CHierarchicalMapMHPartition.cpp.
References MRPT_UNUSED_PARAM.
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inherited |
Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.
ADDITIONAL NOTES:
Definition at line 308 of file CHierarchicalMapMHPartition.cpp.
References MRPT_UNUSED_PARAM.
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inherited |
Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:
Definition at line 487 of file CHierarchicalMapMHPartition.cpp.
References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.
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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 89 of file CSerializable.h.
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 58 of file CHierarchicalMHMap.cpp.
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Definition at line 32 of file CHierarchicalMHMap.h.
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friend |
Definition at line 33 of file CHierarchicalMHMap.h.
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Definition at line 35 of file CHierarchicalMHMap.h.
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Definition at line 35 of file CHierarchicalMHMap.h.
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protectedinherited |
Definition at line 47 of file CHierarchicalMapMHPartition.h.
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protectedinherited |
The internal list of nodes and arcs in the whole hierarchical model.
The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.
Definition at line 46 of file CHierarchicalMapMHPartition.h.
Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::begin(), and mrpt::hmtslam::CHierarchicalMapMHPartition::end().
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staticprotected |
Definition at line 35 of file CHierarchicalMHMap.h.
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