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CHMHMapArc.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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4  | http://www.mrpt.org/ |
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6  | Copyright (C) 2005-2012 University of Malaga |
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8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CHMHMapArc_H
29 #define CHMHMapArc_H
30 
31 #include <mrpt/slam/CSensoryFrame.h>
32 #include <mrpt/hmtslam/CHMHMapNode.h>
33 #include <mrpt/utils/CSerializable.h>
34 
35 namespace mrpt
36 {
37  namespace hmtslam
38  {
39  using namespace mrpt::slam;
40  class HMTSLAM_IMPEXP CHierarchicalMHMap;
41 
42  /** A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
43  * The arc itself will be considered only if some given hypothesisID matchs its own ID.
44  * \note Create objects by invoking the class factory "::Create"
45  *
46  * \sa CHierarchicalMHMap,CHMHMapNode
47  * \ingroup mrpt_hmtslam_grp
48  */
49  class HMTSLAM_IMPEXP CHMHMapArc : public mrpt::utils::CSerializable
50  {
51  friend class HMTSLAM_IMPEXP CHierarchicalMHMap;
52  friend class HMTSLAM_IMPEXP CHMHMapNode;
53  friend class HMTSLAM_IMPEXP CHierarchicalMapMHPartition;
54  friend class TArcList;
55 
56  // This must be added to any CSerializable derived class:
57  DEFINE_SERIALIZABLE( CHMHMapArc )
58 
59  public:
60  /** The hypothesis IDs under which this arc exists.
61  */
62  THypothesisIDSet m_hypotheses;
63 
64  protected:
65  /** The origin/target nodes for this arc.
66  */
67  CHMHMapNode::TNodeID m_nodeFrom, m_nodeTo;
68 
69  /** The hierarchical graph in which this object is into.
70  */
71  safe_ptr<CHierarchicalMHMap> m_parent;
72 
73 
74  /** 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
75  * 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.
76  */
77  void onNodeDestruction(CHMHMapNode *node);
78 
79  private:
80  /** Private constructor (see ::Create class factory)
81  */
82  CHMHMapArc(
83  const CHMHMapNode::TNodeID &from =0,
84  const CHMHMapNode::TNodeID &to =0,
85  const THypothesisIDSet &hyps = THypothesisIDSet(),
86  CHierarchicalMHMap *parent=NULL);
87 
88  /** Alternative constructor, using pointers for convenience.
89  */
90  CHMHMapArc(
91  CHMHMapNodePtr &from,
92  CHMHMapNodePtr &to,
93  const THypothesisIDSet &hyps,
94  CHierarchicalMHMap *parent);
95 
96  public:
97  /** Constructor from node IDs
98  */
99  static CHMHMapArcPtr Create(
100  const CHMHMapNode::TNodeID &from,
101  const CHMHMapNode::TNodeID &to,
102  const THypothesisIDSet &hyps = THypothesisIDSet(),
103  CHierarchicalMHMap *parent=NULL);
104 
105  /** Alternative constructor, using pointers for convenience.
106  */
107  static CHMHMapArcPtr Create(
108  CHMHMapNodePtr &from,
109  CHMHMapNodePtr &to,
110  const THypothesisIDSet &hyps,
111  CHierarchicalMHMap *parent);
112 
113  /** Destructor
114  */
115  virtual ~CHMHMapArc();
116 
117  /** Return the starting node of the arc:
118  */
119  CHMHMapNode::TNodeID getNodeFrom() const { ASSERT_(m_nodeFrom!=AREAID_INVALID); return m_nodeFrom; }
120 
121  /** Return the ending node of the arc:
122  */
123  CHMHMapNode::TNodeID getNodeTo() const { ASSERT_(m_nodeTo!=AREAID_INVALID); return m_nodeTo; }
124 
125  /** The type of the arc, the possibilities are:
126  - "Membership": for abstractions
127  - "Navegability"
128  - "RelativePose"
129  */
130  utils::CTypeSelector m_arcType;
131 
132  /** The annotations of the arc, see the general description of the class for possible properties and values.
133  */
134  utils::CMHPropertiesValuesList m_annotations;
135 
136  }; // End of class def.
137 
138 
139  } // End of namespace
140 } // End of namespace
141 
142 #endif


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