Detailed Description

A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.

The arc itself will be considered only if some given hypothesisID matchs its own ID.

Note:: Create objects by invoking the class factory "::Create"

See also:: CHierarchicalMHMap,CHMHMapNode

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:

[legend]

List of all members.

Public Member Functions
virtual	~CHMHMapArc ()
	Destructor.
CHMHMapNode::TNodeID	getNodeFrom () const
	Return the starting node of the arc:
CHMHMapNode::TNodeID	getNodeTo () const
	Return the ending node of the arc:
mrpt::utils::CObjectPtr	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).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Member Functions
static CHMHMapArcPtr	Create (const CHMHMapNode::TNodeID &from, const CHMHMapNode::TNodeID &to, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
	Constructor from node IDs.
static CHMHMapArcPtr	Create (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
	Alternative constructor, using pointers for convenience.
Public Attributes
THypothesisIDSet	m_hypotheses
	The hypothesis IDs under which this arc exists.
utils::CTypeSelector	m_arcType
	The type of the arc, the possibilities are:
utils::CMHPropertiesValuesList	m_annotations
	The annotations of the arc, see the general description of the class for possible properties and values.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Protected Attributes
CHMHMapNode::TNodeID	m_nodeFrom
	The origin/target nodes for this arc.
CHMHMapNode::TNodeID	m_nodeTo
safe_ptr< CHierarchicalMHMap >	m_parent
	The hierarchical graph in which this object is into.
Private Member Functions
	CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
	Private constructor (see ::Create class factory)
	CHMHMapArc (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
	Alternative constructor, using pointers for convenience.
Friends
class HMTSLAM_IMPEXP	CHierarchicalMHMap
class HMTSLAM_IMPEXP	CHMHMapNode
class HMTSLAM_IMPEXP	CHierarchicalMapMHPartition
class	TArcList
RTTI stuff
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId	classCSerializable
RTTI stuff
typedef CHMHMapArcPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CHMHMapArc
static mrpt::utils::TRuntimeClassId	classCHMHMapArc
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CHMHMapArcPtr	Create ()

Member Typedef Documentation

typedef CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::SmartPtr

A typedef for the associated smart pointer

Definition at line 59 of file CHMHMapArc.h.

Constructor & Destructor Documentation

mrpt::hmtslam::CHMHMapArc::CHMHMapArc	(	const CHMHMapNode::TNodeID &	from = `0`,
		const CHMHMapNode::TNodeID &	to = `0`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`,
		CHierarchicalMHMap *	parent = `NULL`
	)		`[private]`

Private constructor (see ::Create class factory)

mrpt::hmtslam::CHMHMapArc::CHMHMapArc	(	CHMHMapNodePtr &	from,
		CHMHMapNodePtr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)		`[private]`

Alternative constructor, using pointers for convenience.

virtual mrpt::hmtslam::CHMHMapArc::~CHMHMapArc ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( ) [static]

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create	(	const CHMHMapNode::TNodeID &	from,
		const CHMHMapNode::TNodeID &	to,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`,
		CHierarchicalMHMap *	parent = `NULL`
	)		`[static]`

Constructor from node IDs.

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create	(	CHMHMapNodePtr &	from,
		CHMHMapNodePtr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)		`[static]`

Alternative constructor, using pointers for convenience.

static mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

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 151 of file CObject.h.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom ( ) const [inline]

Return the starting node of the arc:

Definition at line 121 of file CHMHMapArc.h.

References ASSERT_, and AREAID_INVALID.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo ( ) const [inline]

Return the ending node of the arc:

Definition at line 125 of file CHMHMapArc.h.

References ASSERT_, and AREAID_INVALID.

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CHMHMapArc::onNodeDestruction ( CHMHMapNode * node ) [protected]

Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The 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::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer