Detailed Description

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.

See also:: CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:

Public Types
typedef TNodeList::iterator	iterator
typedef TNodeList::const_iterator	const_iterator
typedef std::vector < CHMHMapNode::TNodeID >	TNodeIDsList
	A type that reprensents a sequence of node IDs.
Public Member Functions
	CHierarchicalMHMap ()
	Default constructor.
void	dumpAsXMLfile (std::string fileName) const
	Destructor.
void	loadFromXMLfile (std::string fileName)
	Load a graph from a XML file.
virtual	~CHierarchicalMHMap ()
void	clear ()
	Erase all the contents of map (It delete all nodes/arcs objects)
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.
const_iterator	begin () const
	Returns an iterator to the first node in the graph.
iterator	begin ()
	Returns an iterator to the first node in the graph.
const_iterator	end () const
	Returns an iterator to the end of the list of nodes in the graph.
iterator	end ()
	Returns an iterator to the end of the list of nodes in the graph.
size_t	nodeCount () const
	Returns the number of nodes in the partition:
size_t	arcCount () const
	Returns the number of arcs in the partition:
CHMHMapNodePtr	getFirstNode ()
	Returns the first node in the graph, or NULL if it does not exist.
CHMHMapNodePtr	getNodeByID (CHMHMapNode::TNodeID id)
	Returns the node with the given ID, or NULL if it does not exist.
const CHMHMapNodePtr	getNodeByID (CHMHMapNode::TNodeID id) const
	Returns the node with the given ID, or NULL if it does not exist.
CHMHMapNodePtr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID)
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.
const CHMHMapNodePtr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.
void	saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const
	Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)
void	saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const
	Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.
void	saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const
	Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:
void	findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const
	The Dijkstra algorithm for finding the shortest path between a pair of nodes.
void	computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=DEG2RAD(0.1)) const
	Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.
float	computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300)
	Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".
void	findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const
	Returns all the arcs between a pair of nodes:
void	findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const
	Returns the arcs between a pair of nodes of a given type.
CHMHMapArcPtr	findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const
	Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.
bool	areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=NULL) const
	Returns wether two nodes are "neightbour", i.e.
void	computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, CPose3DPDFGaussian > > > &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const
	This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.
void	getAs3DScene (COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const
	Returns a 3D scene reconstruction of the hierarchical map.
void	dumpAsText (utils::CStringList &s) const
	Return a textual description of the whole graph.
double	computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const
	Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.
Static Public Member Functions
static void	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
void	onNodeAddition (CHMHMapNodePtr &node)
	Event handler to be called just after a node has being created: it will be added to the internal list.
void	onArcAddition (CHMHMapArcPtr &arc)
	Event handler to be called just after an arc has being created: it will be added to the internal list.
void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it will be removed from the internal list.
void	onArcDestruction (CHMHMapArc *arc)
	Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.
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
TNodeList	m_nodes
	The internal list of nodes and arcs in the whole hierarchical model.
TArcList	m_arcs
Friends
class HMTSLAM_IMPEXP	CHMHMapArc
class HMTSLAM_IMPEXP	CHMHMapNode
RTTI stuff
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId	classCSerializable
RTTI stuff
typedef CHierarchicalMHMapPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CHierarchicalMHMap
static mrpt::utils::TRuntimeClassId	classCHierarchicalMHMap
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 CHierarchicalMHMapPtr	Create ()

Member Typedef Documentation

typedef TNodeList::const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator [inherited]

Definition at line 75 of file CHierarchicalMapMHPartition.h.

typedef TNodeList::iterator mrpt::hmtslam::CHierarchicalMapMHPartition::iterator [inherited]

Definition at line 74 of file CHierarchicalMapMHPartition.h.

typedef CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::SmartPtr

A typedef for the associated smart pointer

Definition at line 58 of file CHierarchicalMHMap.h.

typedef std::vector<CHMHMapNode::TNodeID> mrpt::hmtslam::CHierarchicalMapMHPartition::TNodeIDsList [inherited]

A type that reprensents a sequence of node IDs.

Definition at line 95 of file CHierarchicalMapMHPartition.h.

Constructor & Destructor Documentation

mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap ( )

Default constructor.

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

Member Function Documentation

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

Reimplemented from mrpt::utils::CSerializable.

size_t mrpt::hmtslam::CHierarchicalMapMHPartition::arcCount ( ) const [inherited]

Returns the number of arcs in the partition:

bool mrpt::hmtslam::CHierarchicalMapMHPartition::areNodesNeightbour	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		const char *	requiredAnnotation = `NULL`
	)		const `[inherited]`

Returns wether two nodes are "neightbour", i.e.

have a direct arc between them

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) const [inline, inherited]

Returns an iterator to the first node in the graph.

Definition at line 78 of file CHierarchicalMapMHPartition.h.

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) [inline, inherited]

Returns an iterator to the first node in the graph.

Definition at line 81 of file CHierarchicalMapMHPartition.h.

void mrpt::hmtslam::CHierarchicalMHMap::clear ( )

Erase all the contents of map (It delete all nodes/arcs objects)

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.

void mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		CPose3DPDFParticles &	posePDF,
		const THypothesisID &	hypothesisID,
		unsigned int	particlesCount = `100`,
		float	additionalNoiseXYratio = `0.02`,
		float	additionalNoisePhiRad = `DEG2RAD(0.1)`
	)		const `[inherited]`

Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.

Exceptions:

std::exception If there is not enought information in arcs to compute the PDF

See also:: computeGloballyConsistentNodeCoordinates

void mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates	(	std::map< CHMHMapNode::TNodeID, CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, CPose3DPDFGaussian > > > &	nodePoses,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterations = `2`
	)		const `[inherited]`

This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.

Global coordinates will be computed relative to the node "idReferenceNode".

Exceptions:

std::exception If there is any node without a pose arc, invalid (non invertible) matrixes, etc...

See also:: computeCoordinatesTransformationBetweenNodes

float mrpt::hmtslam::CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		float &	maxMatchProb,
		CPose3DPDFSOG &	estimatedRelativePose,
		const THypothesisID &	hypothesisID,
		unsigned int	monteCarloSamplesPose = `300`
	)		`[inherited]`

Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".

double mrpt::hmtslam::CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		const size_t &	monteCarloSamples = `100`,
		const float	margin_to_substract = `6`
	)		const `[inherited]`

Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.

Exceptions:

std::exception If there is not enought information in arcs, etc...

Parameters:

margin_to_substract In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.

static CHierarchicalMHMapPtr mrpt::hmtslam::CHierarchicalMHMap::Create ( ) [static]

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

void mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText ( utils::CStringList & s ) const [inherited]

Return a textual description of the whole graph.

void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile ( std::string fileName ) const

Destructor.

Save the whole graph as a XML file

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

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) const [inline, inherited]

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 84 of file CHierarchicalMapMHPartition.h.

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) [inline, inherited]

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 87 of file CHierarchicalMapMHPartition.h.

CHMHMapArcPtr mrpt::hmtslam::CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		bool &	isInverted
	)		const `[inherited]`

Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.

Returns:: The arc, or NULL if not found.

void mrpt::hmtslam::CHierarchicalMapMHPartition::findArcsBetweenNodes	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		TArcList &	out_listArcs
	)		const `[inherited]`

Returns all the arcs between a pair of nodes:

void mrpt::hmtslam::CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		TArcList &	ret
	)		const `[inherited]`

Returns the arcs between a pair of nodes of a given type.

void mrpt::hmtslam::CHierarchicalMapMHPartition::findPathBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		TArcList &	out_path,
		bool	direction = `false`
	)		const `[inherited]`

The Dijkstra algorithm for finding the shortest path between a pair of nodes.

Returns:: The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.

void mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene	(	COpenGLScene &	outScene,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterationsForOptimalGlobalPoses = `5`,
		const bool &	showRobotPoseIDs = `true`
	)		const `[inherited]`

Returns a 3D scene reconstruction of the hierarchical map.

See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"

CHMHMapNodePtr mrpt::hmtslam::CHierarchicalMapMHPartition::getFirstNode ( ) [inherited]

Returns the first node in the graph, or NULL if it does not exist.

Returns:: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

CHMHMapNodePtr mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id ) [inherited]

Returns the node with the given ID, or NULL if it does not exist.

Returns:: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

const CHMHMapNodePtr mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id ) const [inherited]

Returns the node with the given ID, or NULL if it does not exist.

Returns:: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

CHMHMapNodePtr mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)		`[inherited]`

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns:: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

const CHMHMapNodePtr mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)		const `[inherited]`

Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.

Returns:: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile ( std::string fileName )

Load a graph from a XML file.

size_t mrpt::hmtslam::CHierarchicalMapMHPartition::nodeCount ( ) const [inherited]

Returns the number of nodes in the partition:

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

Event handler to be called just after an arc has being created: it will be added to the internal list.

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

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 mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition ( CHMHMapNodePtr & node ) [protected]

Event handler to be called just after a node has being created: it will be added to the internal list.

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

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.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		`[static, inherited]`

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

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.

void mrpt::hmtslam::CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID
	)		const `[inherited]`

Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)

The partition may be empty if no node fulfills the condition.
All arcs STARTING at each node from the partition will be added to the partition as well.
Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.
See also:
CHMHMapArc Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:
Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

void mrpt::hmtslam::CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		float	uncertaintyExagerationFactor = `1.0f`,
		bool	drawArcs = `false`,
		unsigned int	numberOfIterationsForOptimalGlobalPoses = `4`
	)		const `[inherited]`

Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.

ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

void mrpt::hmtslam::CHierarchicalMapMHPartition::saveGlobalMapForMATLAB	(	const std::string &	filName,
		const THypothesisID &	hypothesisID,
		const CHMHMapNode::TNodeID &	idReferenceNode
	)		const `[inherited]`

Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

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