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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) 2005-2016, 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
19
20
21namespace mrpt
22{
23 namespace hmtslam
24 {
25 /** Information kept for each robot pose used in CRobotPosesGraph */
27 {
28 mrpt::obs::CSensoryFrame sf; //!< The observations
29 mrpt::poses::CPose3DPDFParticles pdf; //!< The robot pose PDF
30 };
31
33
34 /** 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.
35 * \ingroup mrpt_hmtslam_grp
36 */
37 class HMTSLAM_IMPEXP CRobotPosesGraph : public mrpt::utils::CSerializable, public std::map<TPoseID,TPoseInfo>
38 {
39 // This must be added to any CSerializable derived class:
41 public:
42
43 /** Insert all the observations in the map (without erasing previous contents). */
45
46 /** Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. */
47 void convertIntoSimplemap( mrpt::maps::CSimpleMap &out_simplemap) const;
48
49 }; // end of class
51
52
53 } // End of namespace
54} // End of namespace
55#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
void convertIntoSimplemap(mrpt::maps::CSimpleMap &out_simplemap) const
Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.
void insertIntoMetricMap(mrpt::maps::CMultiMetricMap &metricMap) const
Insert all the observations in the map (without erasing previous contents).
This class stores any customizable set of metric maps.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
#define HMTSLAM_IMPEXP
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
STL namespace.
Information kept for each robot pose used in CRobotPosesGraph.
mrpt::obs::CSensoryFrame sf
The observations.
mrpt::poses::CPose3DPDFParticles pdf
The robot pose PDF.



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