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mrpt::hmtslam::CHierarchicalMHMap Class Reference

Detailed Description

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.

See Also
CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

Definition at line 31 of file CHierarchicalMHMap.h.

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:
Inheritance graph

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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 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 mxArraywriteToMatlab () 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...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. 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...
 
CHMHMapNodePtr getFirstNode ()
 Returns the first node in the graph, or NULL if it does not exist. More...
 
CHMHMapNodePtr getNodeByID (CHMHMapNode::TNodeID id)
 Returns the node with the given ID, or NULL if it does not exist. More...
 
const CHMHMapNodePtr getNodeByID (CHMHMapNode::TNodeID id) const
 Returns the node with the given ID, or NULL if it does not exist. More...
 
CHMHMapNodePtr getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID)
 Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. More...
 
const CHMHMapNodePtr getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const
 Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL 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...
 
CHMHMapArcPtr 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=NULL) 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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

Protected Member Functions

void onNodeAddition (CHMHMapNodePtr &node)
 Event handler to be called just after a node has being created: it will be added to the internal list. More...
 
void onArcAddition (CHMHMapArcPtr &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
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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

typedef CHierarchicalMHMapPtr Ptr
 
typedef CHierarchicalMHMapPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CHierarchicalMHMap
 
static mrpt::utils::TRuntimeClassId classCHierarchicalMHMap
 
static const
mrpt::utils::TRuntimeClassId
classinfo
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CHierarchicalMHMapPtr Create ()
 

Member Typedef Documentation

typedef TNodeList::const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator
inherited

Definition at line 46 of file CHierarchicalMapMHPartition.h.

typedef CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::ConstPtr

Definition at line 37 of file CHierarchicalMHMap.h.

typedef TNodeList::iterator mrpt::hmtslam::CHierarchicalMapMHPartition::iterator
inherited

Definition at line 45 of file CHierarchicalMapMHPartition.h.

typedef CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::Ptr

A typedef for the associated smart pointer

Definition at line 37 of file CHierarchicalMHMap.h.

A type that reprensents a sequence of node IDs.

Definition at line 66 of file CHierarchicalMapMHPartition.h.

Constructor & Destructor Documentation

CHierarchicalMHMap::CHierarchicalMHMap ( )

Default constructor.

Definition at line 26 of file CHierarchicalMHMap.cpp.

CHierarchicalMHMap::~CHierarchicalMHMap ( )
virtual

Definition at line 34 of file CHierarchicalMHMap.cpp.

References mrpt::utils::clear().

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::_GetBaseClass ( )
staticprotected
size_t CHierarchicalMapMHPartition::arcCount ( ) const
inherited

Returns the number of arcs in the partition:

Definition at line 49 of file CHierarchicalMapMHPartition.cpp.

bool CHierarchicalMapMHPartition::areNodesNeightbour ( const CHMHMapNode::TNodeID node1,
const CHMHMapNode::TNodeID node2,
const THypothesisID hypothesisID,
const char *  requiredAnnotation = NULL 
) const
inherited

Returns whether two nodes are "neightbour", i.e.

have a direct arc between them

Definition at line 1050 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) const
inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 49 of file CHierarchicalMapMHPartition.h.

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( )
inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 52 of file CHierarchicalMapMHPartition.h.

void CHierarchicalMHMap::clear ( )

Erase all the contents of map (It delete all nodes/arcs objects)

Definition at line 42 of file CHierarchicalMHMap.cpp.

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void CHierarchicalMapMHPartition::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
inherited
void CHierarchicalMapMHPartition::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
inherited
float CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes ( const CHMHMapNode::TNodeID nodeFrom,
const CHMHMapNode::TNodeID nodeTo,
float &  maxMatchProb,
mrpt::poses::CPose3DPDFSOG estimatedRelativePose,
const THypothesisID hypothesisID,
unsigned int  monteCarloSamplesPose = 300 
)
inherited

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 963 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

double CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes ( const CHMHMapNode::TNodeID nodeFrom,
const CHMHMapNode::TNodeID nodeTo,
const THypothesisID hypothesisID,
const size_t &  monteCarloSamples = 100,
const float  margin_to_substract = 6 
) const
inherited

Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.

Exceptions
std::exceptionIf there is not enought information in arcs, etc...
Parameters
margin_to_substractIn meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.

Definition at line 1509 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, and mrpt::math::RectanglesIntersection().

static CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::Create ( )
static
static mrpt::utils::CObject* mrpt::hmtslam::CHierarchicalMHMap::CreateObject ( )
static
void CHierarchicalMapMHPartition::dumpAsText ( utils::CStringList s) const
inherited
void CHierarchicalMHMap::dumpAsXMLfile ( std::string  fileName) const
virtual mrpt::utils::CObject* mrpt::hmtslam::CHierarchicalMHMap::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) const
inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 55 of file CHierarchicalMapMHPartition.h.

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( )
inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 58 of file CHierarchicalMapMHPartition.h.

CHMHMapArcPtr CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes ( const CHMHMapNode::TNodeID node1id,
const CHMHMapNode::TNodeID node2id,
const THypothesisID hypothesisID,
const std::string arcType,
bool &  isInverted 
) const
inherited

Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.

Returns
The arc, or NULL if not found.

Definition at line 1474 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

void CHierarchicalMapMHPartition::findArcsBetweenNodes ( const CHMHMapNode::TNodeID node1,
const CHMHMapNode::TNodeID node2,
const THypothesisID hypothesisID,
TArcList out_listArcs 
) const
inherited

Returns all the arcs between a pair of nodes:

Definition at line 985 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

void CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes ( const CHMHMapNode::TNodeID node1id,
const CHMHMapNode::TNodeID node2id,
const THypothesisID hypothesisID,
const std::string arcType,
TArcList ret 
) const
inherited

Returns the arcs between a pair of nodes of a given type.

Definition at line 1016 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

void CHierarchicalMapMHPartition::findPathBetweenNodes ( const CHMHMapNode::TNodeID nodeFrom,
const CHMHMapNode::TNodeID nodeTo,
const THypothesisID hypothesisID,
TArcList out_path,
bool  direction = false 
) const
inherited

The Dijkstra algorithm for finding the shortest path between a pair of nodes.

Returns
The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.

Definition at line 721 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, ASSERTMSG_, MRPT_END, and MRPT_START.

void CHierarchicalMapMHPartition::getAs3DScene ( mrpt::opengl::COpenGLScene outScene,
const CHMHMapNode::TNodeID idReferenceNode,
const THypothesisID hypothesisID,
const unsigned int numberOfIterationsForOptimalGlobalPoses = 5,
const bool &  showRobotPoseIDs = true 
) const
inherited
CHMHMapNodePtr CHierarchicalMapMHPartition::getFirstNode ( )
inherited

Returns the first node in the graph, or NULL if it does not exist.

Returns
A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 122 of file CHierarchicalMapMHPartition.cpp.

CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID  id)
inherited

Returns the node with the given ID, or NULL if it does not exist.

Returns
A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 58 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CHMHMapArc::Create().

const CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID  id) const
inherited

Returns the node with the given ID, or NULL if it does not exist.

Returns
A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 71 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByLabel ( const std::string label,
const THypothesisID hypothesisID 
)
inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns
A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 85 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

const CHMHMapNodePtr CHierarchicalMapMHPartition::getNodeByLabel ( const std::string label,
const THypothesisID hypothesisID 
) const
inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns
A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 103 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void CHierarchicalMHMap::loadFromXMLfile ( std::string  fileName)
size_t CHierarchicalMapMHPartition::nodeCount ( ) const
inherited

Returns the number of nodes in the partition:

Definition at line 41 of file CHierarchicalMapMHPartition.cpp.

void CHierarchicalMHMap::onArcAddition ( CHMHMapArcPtr &  arc)
protected

Event handler to be called just after an arc has being created: it will be added to the internal list.

Definition at line 178 of file CHierarchicalMHMap.cpp.

Referenced by mrpt::hmtslam::CHMHMapArc::Create().

void CHierarchicalMHMap::onArcDestruction ( CHMHMapArc arc)
protected

Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.

Note
At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Definition at line 145 of file CHierarchicalMHMap.cpp.

void CHierarchicalMHMap::onNodeAddition ( CHMHMapNodePtr &  node)
protected

Event handler to be called just after a node has being created: it will be added to the internal list.

Definition at line 157 of file CHierarchicalMHMap.cpp.

References ASSERT_.

Referenced by mrpt::hmtslam::CHMHMapNode::Create().

void CHierarchicalMHMap::onNodeDestruction ( CHMHMapNode node)
protected

Event handler to be called just before a node is being destroyed: it will be removed from the internal list.

Note
At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

Definition at line 131 of file CHierarchicalMHMap.cpp.

References mrpt::hmtslam::CHMHMapNode::getID().

void mrpt::hmtslam::CHierarchicalMHMap::operator delete ( void ptr)
throw (
)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void mrpt::hmtslam::CHierarchicalMHMap::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void mrpt::hmtslam::CHierarchicalMHMap::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void mrpt::hmtslam::CHierarchicalMHMap::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void* mrpt::hmtslam::CHierarchicalMHMap::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

static void* mrpt::hmtslam::CHierarchicalMHMap::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 37 of file CHierarchicalMHMap.h.

void* mrpt::hmtslam::CHierarchicalMHMap::operator new ( size_t  size)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void* mrpt::hmtslam::CHierarchicalMHMap::operator new[] ( size_t  size)
inline

Definition at line 37 of file CHierarchicalMHMap.h.

void CHierarchicalMHMap::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 92 of file CHierarchicalMHMap.cpp.

References mrpt::utils::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

void CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB ( const std::string filName,
const CHMHMapNode::TNodeID idReferenceNode,
const THypothesisID hypothesisID 
) const
inherited

Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)

  • The partition may be empty if no node fulfills the condition.
  • All arcs STARTING at each node from the partition will be added to the partition as well.
  • Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.
    See Also
    CHMHMapArcSaves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.

  • If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 132 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

void CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB ( const std::string filName,
const CHMHMapNode::TNodeID idReferenceNode,
const THypothesisID hypothesisID,
float  uncertaintyExagerationFactor = 1.0f,
bool  drawArcs = false,
unsigned int  numberOfIterationsForOptimalGlobalPoses = 4 
) const
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:

  • Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
  • If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 305 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

void CHierarchicalMapMHPartition::saveGlobalMapForMATLAB ( const std::string filName,
const THypothesisID hypothesisID,
const CHMHMapNode::TNodeID idReferenceNode 
) const
inherited

Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:

  • Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
  • If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 479 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

void CHierarchicalMHMap::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
protectedvirtual

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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 65 of file CHierarchicalMHMap.cpp.

Friends And Related Function Documentation

friend class CHMHMapArc
friend

Definition at line 33 of file CHierarchicalMHMap.h.

friend class CHMHMapNode
friend

Definition at line 34 of file CHierarchicalMHMap.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::hmtslam::CHierarchicalMHMap::_init_CHierarchicalMHMap
staticprotected

Definition at line 37 of file CHierarchicalMHMap.h.

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHierarchicalMHMap::classCHierarchicalMHMap
static

Definition at line 37 of file CHierarchicalMHMap.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHierarchicalMHMap::classinfo
static

Definition at line 37 of file CHierarchicalMHMap.h.

TArcList mrpt::hmtslam::CHierarchicalMapMHPartition::m_arcs
protectedinherited

Definition at line 41 of file CHierarchicalMapMHPartition.h.

TNodeList mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes
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 40 of file CHierarchicalMapMHPartition.h.




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