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 | CLSLAMParticleDataParticles |
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 | LSLAMAuxiliaryPFOptimal |
class | LSLAMOptimalProposal |
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... | |
Typedefs | |
typedef std::map< CHMHMapNode::TNodeID, std::shared_ptr< CHMHMapNode > > | TNodeList |
A map between node IDs and nodes (used in HMT-SLAM). More... | |
typedef mrpt::utils::list_searchable< CHMHMapNode::TNodeID > | TNodeIDList |
typedef std::set< CHMHMapNode::TNodeID > | TNodeIDSet |
typedef std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID > | TPairNodeIDs |
typedef mrpt::aligned_containers< TPoseID, mrpt::poses::CPose3D >::map_t | TMapPoseID2Pose3D |
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. More... | |
typedef uint64_t | TPoseID |
An integer number uniquely identifying each robot pose stored in HMT-SLAM. More... | |
typedef std::pair< TPoseID, TPoseID > | TPairPoseIDs |
typedef std::vector< TPoseID > | TPoseIDList |
typedef std::set< TPoseID > | TPoseIDSet |
typedef int64_t mrpt::hmtslam::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()
Definition at line 53 of file HMT_SLAM_common.h.
typedef mrpt::aligned_containers<TPoseID, mrpt::poses::CPose3D>::map_t mrpt::hmtslam::TMapPoseID2Pose3D |
Definition at line 36 of file CLocalMetricHypothesis.h.
Definition at line 145 of file CHMHMapNode.h.
typedef std::set<CHMHMapNode::TNodeID> mrpt::hmtslam::TNodeIDSet |
Definition at line 146 of file CHMHMapNode.h.
typedef std::map<CHMHMapNode::TNodeID, std::shared_ptr<CHMHMapNode> > mrpt::hmtslam::TNodeList |
A map between node IDs and nodes (used in HMT-SLAM).
Definition at line 144 of file CHMHMapNode.h.
typedef std::pair<CHMHMapNode::TNodeID, CHMHMapNode::TNodeID> mrpt::hmtslam::TPairNodeIDs |
Definition at line 147 of file CHMHMapNode.h.
typedef std::pair<TPoseID, TPoseID> mrpt::hmtslam::TPairPoseIDs |
Definition at line 68 of file HMT_SLAM_common.h.
typedef uint64_t mrpt::hmtslam::TPoseID |
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
They can be generated from CHMTSLAM::generatePoseID()
Definition at line 66 of file HMT_SLAM_common.h.
typedef std::vector<TPoseID> mrpt::hmtslam::TPoseIDList |
Definition at line 70 of file HMT_SLAM_common.h.
typedef std::set<TPoseID> mrpt::hmtslam::TPoseIDSet |
Definition at line 71 of file HMT_SLAM_common.h.
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