Detailed Description

A class for representing a node in a hierarchical, multi-hypothesis map.

The node 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,CHMHMapArc

#include <mrpt/hmtslam/CHMHMapNode.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapNode:

[legend]

List of all members.

Public Types
typedef mrpt::utils::TNodeID	TNodeID
	The type of the IDs of nodes.
Public Member Functions
virtual	~CHMHMapNode ()
	Destructor.
TNodeID	getID () const
	Reads the ID of the node (read-only property)
unsigned int	getLevelInTheHierarchy ()
	Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.
unsigned int	getRelatedArcsCount ()
	Returns the number of arcs starting from/ending into this node.
void	getArcs (TArcList &out) const
	Returns a list with the arcs from/to this node.
void	getArcs (TArcList &out, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID.
void	getArcs (TArcList &out, const char *arcType, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.
bool	isNeighbor (const TNodeID &otherArea, const THypothesisID &hyp_id) const
	Check whether an arc exists towards the given area.
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 CHMHMapNodePtr	Create (CHierarchicalMHMap *parent=NULL, const THypothesisIDSet &hyps=THypothesisIDSet())
	Class factory.
Public Attributes
THypothesisIDSet	m_hypotheses
	The hypothesis IDs under which this node exists.
utils::CMHPropertiesValuesList	m_annotations
	The annotations of the node, see the general description of the class for possible properties and values.
utils::CTypeSelector	m_nodeType
	The type of the node, the possibilities are:
std::string	m_label
	The label of the node, only for display it to the user.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
void	onArcDestruction (CHMHMapArc *arc)
	Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.
void	onArcAddition (CHMHMapArcPtr &arc)
	Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.
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
TNodeID	m_ID
	An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.
TArcList	m_arcs
	The list of all arcs from/to this node:
safe_ptr< CHierarchicalMHMap >	m_parent
	The hierarchical graph in which this object is into.
Private Member Functions
	CHMHMapNode (CHierarchicalMHMap *parent=NULL, const THypothesisIDSet &hyps=THypothesisIDSet())
	Private constructor (see ::Create class factory)
Friends
class HMTSLAM_IMPEXP	CHierarchicalMHMap
class HMTSLAM_IMPEXP	CHierarchicalMHMapPartition
class HMTSLAM_IMPEXP	CHMHMapArc
RTTI stuff
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId	classCSerializable
RTTI stuff
typedef CHMHMapNodePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CHMHMapNode
static mrpt::utils::TRuntimeClassId	classCHMHMapNode
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 CHMHMapNodePtr	Create ()

Member Typedef Documentation

typedef CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::SmartPtr

A typedef for the associated smart pointer

Definition at line 65 of file CHMHMapNode.h.

typedef mrpt::utils::TNodeID mrpt::hmtslam::CHMHMapNode::TNodeID

The type of the IDs of nodes.

Definition at line 70 of file CHMHMapNode.h.

Constructor & Destructor Documentation

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

Private constructor (see ::Create class factory)

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

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapNode::_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 CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Create ( ) [static]

static CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Create	(	CHierarchicalMHMap *	parent = `NULL`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`
	)		`[static]`

Class factory.

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

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapNode::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.

void mrpt::hmtslam::CHMHMapNode::getArcs ( TArcList & out ) const [inline]

Returns a list with the arcs from/to this node.

Definition at line 146 of file CHMHMapNode.h.

void mrpt::hmtslam::CHMHMapNode::getArcs	(	TArcList &	out,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID.

void mrpt::hmtslam::CHMHMapNode::getArcs	(	TArcList &	out,
		const char *	arcType,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.

TNodeID mrpt::hmtslam::CHMHMapNode::getID ( ) const

Reads the ID of the node (read-only property)

unsigned int mrpt::hmtslam::CHMHMapNode::getLevelInTheHierarchy ( )

Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.

unsigned int mrpt::hmtslam::CHMHMapNode::getRelatedArcsCount ( )

Returns the number of arcs starting from/ending into this node.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

bool mrpt::hmtslam::CHMHMapNode::isNeighbor	(	const TNodeID &	otherArea,
		const THypothesisID &	hyp_id
	)		const

Check whether an arc exists towards the given area.

void mrpt::hmtslam::CHMHMapNode::onArcAddition ( CHMHMapArcPtr & arc ) [protected]

Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.

void mrpt::hmtslam::CHMHMapNode::onArcDestruction ( CHMHMapArc * arc ) [protected]

Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.

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.

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