00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CHMHMapNode_H 00029 #define CHMHMapNode_H 00030 00031 #include <mrpt/utils/safe_pointers.h> 00032 #include <mrpt/utils/stl_extensions.h> 00033 #include <mrpt/slam/CSensoryFrame.h> 00034 #include <mrpt/hmtslam/HMT_SLAM_common.h> 00035 00036 #include <mrpt/utils/CSerializable.h> 00037 #include <mrpt/utils/CMHPropertiesValuesList.h> 00038 #include <mrpt/utils/CTypeSelector.h> 00039 00040 namespace mrpt 00041 { 00042 namespace hmtslam 00043 { 00044 using namespace mrpt::slam; 00045 00046 class HMTSLAM_IMPEXP CHierarchicalMHMap; 00047 class HMTSLAM_IMPEXP CHMHMapArc; 00048 00049 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHMHMapNode,mrpt::utils::CSerializable, HMTSLAM_IMPEXP ) 00050 00051 /** A class for representing a node in a hierarchical, multi-hypothesis map. 00052 * The node itself will be considered only if some given hypothesisID matchs its own ID. 00053 * \note Create objects by invoking the class factory "::Create" 00054 * 00055 * \sa CHierarchicalMHMap,CHMHMapArc 00056 * \ingroup mrpt_hmtslam_grp 00057 */ 00058 class HMTSLAM_IMPEXP CHMHMapNode : public mrpt::utils::CSerializable 00059 { 00060 friend class HMTSLAM_IMPEXP CHierarchicalMHMap; 00061 friend class HMTSLAM_IMPEXP CHierarchicalMHMapPartition; 00062 friend class HMTSLAM_IMPEXP CHMHMapArc; 00063 00064 // This must be added to any CSerializable derived class: 00065 DEFINE_SERIALIZABLE( CHMHMapNode ) 00066 00067 public: 00068 /** The type of the IDs of nodes. 00069 */ 00070 typedef mrpt::utils::TNodeID TNodeID; 00071 00072 /** The hypothesis IDs under which this node exists. 00073 */ 00074 THypothesisIDSet m_hypotheses; 00075 00076 protected: 00077 /** An unique identifier for the node: it is randomly generated at construction or read from stream when loaded. 00078 */ 00079 TNodeID m_ID; 00080 00081 /** The list of all arcs from/to this node: 00082 */ 00083 TArcList m_arcs; 00084 00085 /** Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects. 00086 * \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. 00087 */ 00088 void onArcDestruction(CHMHMapArc *arc); 00089 00090 /** Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects. 00091 */ 00092 void onArcAddition(CHMHMapArcPtr &arc); 00093 00094 /** The hierarchical graph in which this object is into. 00095 */ 00096 safe_ptr<CHierarchicalMHMap> m_parent; 00097 00098 private: 00099 /** Private constructor (see ::Create class factory) 00100 */ 00101 CHMHMapNode( 00102 CHierarchicalMHMap *parent = NULL, 00103 const THypothesisIDSet &hyps = THypothesisIDSet() ); 00104 00105 public: 00106 /** Class factory 00107 */ 00108 static CHMHMapNodePtr Create( 00109 CHierarchicalMHMap *parent = NULL, 00110 const THypothesisIDSet &hyps = THypothesisIDSet() ); 00111 00112 /** Destructor 00113 */ 00114 virtual ~CHMHMapNode(); 00115 00116 /** The annotations of the node, see the general description of the class for possible properties and values. 00117 */ 00118 utils::CMHPropertiesValuesList m_annotations; 00119 00120 /** The type of the node, the possibilities are: 00121 * - Place 00122 * - Area 00123 * - TopologicalMap 00124 * - Object 00125 */ 00126 utils::CTypeSelector m_nodeType; 00127 00128 /** Reads the ID of the node (read-only property) 00129 */ 00130 TNodeID getID() const; 00131 00132 /** The label of the node, only for display it to the user. 00133 */ 00134 std::string m_label; 00135 00136 /** Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc. 00137 */ 00138 unsigned int getLevelInTheHierarchy(); 00139 00140 /** Returns the number of arcs starting from/ending into this node. 00141 */ 00142 unsigned int getRelatedArcsCount(); 00143 00144 /** Returns a list with the arcs from/to this node. 00145 */ 00146 void getArcs( TArcList &out ) const 00147 { 00148 out = m_arcs; 00149 } 00150 00151 /** Returns a list with the arcs from/to this node existing in a given hypothesis ID. 00152 */ 00153 void getArcs( TArcList &out, const THypothesisID &hyp_id ) const; 00154 00155 /** Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type. 00156 */ 00157 void getArcs( TArcList &out, const char *arcType, const THypothesisID &hyp_id ) const; 00158 00159 /** Check whether an arc exists towards the given area */ 00160 bool isNeighbor(const TNodeID &otherArea, const THypothesisID &hyp_id ) const; 00161 00162 }; // End of class def. 00163 00164 00165 /** A map between node IDs and nodes (used in HMT-SLAM). 00166 * \sa CHMTSLAM 00167 */ 00168 typedef std::map<CHMHMapNode::TNodeID,CHMHMapNodePtr> TNodeList; 00169 typedef list_searchable<CHMHMapNode::TNodeID> TNodeIDList; 00170 typedef std::set<CHMHMapNode::TNodeID> TNodeIDSet; 00171 typedef std::pair<CHMHMapNode::TNodeID,CHMHMapNode::TNodeID> TPairNodeIDs; 00172 00173 } // End of namespace 00174 } // End of namespace 00175 00176 #endif
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