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CRobotPosesGraph.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CRobotPosesGraph_H
10 #define CRobotPosesGraph_H
11 
13 
16 #include <mrpt/obs/CSensoryFrame.h>
17 #include <mrpt/maps/CSimpleMap.h>
19 
20 namespace mrpt
21 {
22 namespace hmtslam
23 {
24 /** Information kept for each robot pose used in CRobotPosesGraph */
25 struct TPoseInfo
26 {
27  /** The observations */
29  /** The robot pose PDF */
31 };
32 
33 /** Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM;
34  * this class stores a set of robot poses and its sensory frames and pose PDF,
35  * for being stored in a HMT-map as a serializable object in annotation
36  * NODE_ANNOTATION_POSES_GRAPH.
37  * \ingroup mrpt_hmtslam_grp
38  */
40  public std::map<TPoseID, TPoseInfo>
41 {
43  public:
44  /** Insert all the observations in the map (without erasing previous
45  * contents). */
46  void insertIntoMetricMap(mrpt::maps::CMultiMetricMap& metricMap) const;
47 
48  /** Converts the contents of this object into a 'simplemap'
49  * (mrpt::maps::CSimpleMap) object. */
50  void convertIntoSimplemap(mrpt::maps::CSimpleMap& out_simplemap) const;
51 
52 }; // end of class
53 
54 } // End of namespace
55 } // End of namespace
56 #endif
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Definition: CSimpleMap.h:35
mrpt::poses::CPose3DPDFParticles pdf
The robot pose PDF.
void insertIntoMetricMap(mrpt::maps::CMultiMetricMap &metricMap) const
Insert all the observations in the map (without erasing previous contents).
void convertIntoSimplemap(mrpt::maps::CSimpleMap &out_simplemap) const
Converts the contents of this object into a &#39;simplemap&#39; (mrpt::maps::CSimpleMap) object.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:54
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
mrpt::obs::CSensoryFrame sf
The observations.
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:32
Information kept for each robot pose used in CRobotPosesGraph.
This class stores any customizable set of metric maps.
Declares a class that represents a Probability Density function (PDF) of a 3D pose.



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