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mrpt::hmtslam::CRobotPosesGraph Class Reference

Detailed Description

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.

Definition at line 39 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
void insertIntoMetricMap (mrpt::maps::CMultiMetricMap &metricMap) const
 Insert all the observations in the map (without erasing previous contents). More...
 
void convertIntoSimplemap (mrpt::maps::CSimpleMap &out_simplemap) const
 Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. 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...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::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 voidoperator new (size_t size, void *ptr)
 

Public Attributes

keys
 STL member. More...
 
elements
 STL member. More...
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CRobotPosesGraph >
 
using ConstPtr = std::shared_ptr< const CRobotPosesGraph >
 
using UniquePtr = std::unique_ptr< CRobotPosesGraph >
 
using ConstUniquePtr = std::unique_ptr< const CRobotPosesGraph >
 
static mrpt::rtti::CLASSINIT _init_CRobotPosesGraph
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CRobotPosesGraph"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 42 of file CRobotPosesGraph.h.

◆ ConstUniquePtr

Definition at line 42 of file CRobotPosesGraph.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 42 of file CRobotPosesGraph.h.

◆ UniquePtr

Definition at line 42 of file CRobotPosesGraph.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CRobotPosesGraph::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ convertIntoSimplemap()

void CRobotPosesGraph::convertIntoSimplemap ( mrpt::maps::CSimpleMap out_simplemap) const

Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.

Definition at line 74 of file CRobotPosesGraph.cpp.

References begin(), mrpt::maps::CSimpleMap::clear(), and mrpt::maps::CSimpleMap::insert().

◆ Create()

template<typename... Args>
static Ptr mrpt::hmtslam::CRobotPosesGraph::Create ( Args &&...  args)
inlinestatic

Definition at line 42 of file CRobotPosesGraph.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::hmtslam::CRobotPosesGraph::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::hmtslam::CRobotPosesGraph::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 42 of file CRobotPosesGraph.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ getClassName()

static constexpr auto mrpt::hmtslam::CRobotPosesGraph::getClassName ( )
inlinestatic

Definition at line 42 of file CRobotPosesGraph.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CRobotPosesGraph::GetRuntimeClassIdStatic ( )
static

◆ insertIntoMetricMap()

void CRobotPosesGraph::insertIntoMetricMap ( mrpt::maps::CMultiMetricMap metricMap) const

Insert all the observations in the map (without erasing previous contents).

Definition at line 60 of file CRobotPosesGraph.cpp.

References begin().

◆ operator delete() [1/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete() [2/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete() [3/3]

void mrpt::hmtslam::CRobotPosesGraph::operator delete ( void ptr)
inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete[]()

void mrpt::hmtslam::CRobotPosesGraph::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [1/3]

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

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [2/3]

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

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [3/3]

void* mrpt::hmtslam::CRobotPosesGraph::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new[]()

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

Definition at line 42 of file CRobotPosesGraph.h.

◆ serializeFrom()

void CRobotPosesGraph::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 30 of file CRobotPosesGraph.cpp.

References mrpt::containers::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::hmtslam::TPoseInfo::pdf, and mrpt::hmtslam::TPoseInfo::sf.

◆ serializeGetVersion()

uint8_t CRobotPosesGraph::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 22 of file CRobotPosesGraph.cpp.

◆ serializeTo()

void CRobotPosesGraph::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 23 of file CRobotPosesGraph.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CRobotPosesGraph

mrpt::rtti::CLASSINIT mrpt::hmtslam::CRobotPosesGraph::_init_CRobotPosesGraph
staticprotected

Definition at line 42 of file CRobotPosesGraph.h.

◆ className

constexpr const char* mrpt::hmtslam::CRobotPosesGraph::className = "CRobotPosesGraph"
static

Definition at line 42 of file CRobotPosesGraph.h.

◆ elements

T std::map< K, T >::elements
inherited

STL member.

◆ keys

K std::map< K, T >::keys
inherited

STL member.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::runtimeClassId
staticprotected

Definition at line 42 of file CRobotPosesGraph.h.




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