CHierarchicalMHMap.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CHierarchicalMHMap_H
#define CHierarchicalMHMap_H

#include <mrpt/hmtslam/CHMHMapNode.h>
#include <mrpt/hmtslam/CHMHMapArc.h>
#include <mrpt/hmtslam/CHierarchicalMapMHPartition.h>
#include <mrpt/slam/CSimpleMap.h>
#include <mrpt/slam/CMultiMetricMap.h>
#include <mrpt/utils/CSerializable.h>


namespace mrpt
{
        namespace hmtslam
        {
                using namespace mrpt::slam;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHierarchicalMHMap, mrpt::utils::CSerializable,  HMTSLAM_IMPEXP )

                /** 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.
                 * \sa CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition
                  * \ingroup mrpt_hmtslam_grp
                 */
                class HMTSLAM_IMPEXP CHierarchicalMHMap : public mrpt::utils::CSerializable, public CHierarchicalMapMHPartition
                {
                        friend class HMTSLAM_IMPEXP CHMHMapArc;
                        friend class HMTSLAM_IMPEXP CHMHMapNode;

                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CHierarchicalMHMap )
                protected:
                        /** Event handler to be called just after a node has being created: it will be added to the internal list.
                          */
                         void  onNodeAddition(CHMHMapNodePtr &node);

                        /** Event handler to be called just after an arc has being created: it will be added to the internal list.
                          */
                         void  onArcAddition(CHMHMapArcPtr &arc);

                        /** 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.
                          */
                         void  onNodeDestruction(CHMHMapNode* node);

                        /** 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.
                          */
                         void  onArcDestruction(CHMHMapArc* arc);

                public:
                         /** Default constructor
                          */
                         CHierarchicalMHMap();

                         /** Destructor
                          */
                         
                         /** Save the whole graph as a XML file */
                         void  dumpAsXMLfile(std::string fileName) const;

                         /** Load a graph from a XML file */
                         void loadFromXMLfile(std::string fileName);


                         virtual ~CHierarchicalMHMap();

                         /** Erase all the contents of map (It delete all nodes/arcs objects)
                           */
                         void  clear();

                }; // End of class def.

        } // End of namespace
} // End of namespace

#endif