mrpt::hmtslam::CRobotPosesGraph Class Reference

Detailed Description

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.

Definition at line 58 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:

Public Member Functions
void	insertIntoMetricMap (CMultiMetricMap &metricMap) const
	Insert all the observations in the map (without erasing previous contents).
void	convertIntoSimplemap (CSimpleMap &out_simplemap) const
	Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object.
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.

Public Attributes
K	keys
	STL member.
T	elements
	STL member.

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.
void	readFromStream (mrpt::utils::CStream &in, int version)
	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.

RTTI stuff
typedef CRobotPosesGraphPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CRobotPosesGraph
static mrpt::utils::TRuntimeClassId	classCRobotPosesGraph
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 CRobotPosesGraphPtr	Create ()

Member Typedef Documentation

typedef CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::SmartPtr

A typedef for the associated smart pointer

Definition at line 61 of file CRobotPosesGraph.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::_GetBaseClass ( )

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

void mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap

(

CSimpleMap &

out_simplemap

)

const

Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object.

static CRobotPosesGraphPtr mrpt::hmtslam::CRobotPosesGraph::Create ( )

static

static mrpt::utils::CObject* mrpt::hmtslam::CRobotPosesGraph::CreateObject ( )

static

virtual mrpt::utils::CObject* mrpt::hmtslam::CRobotPosesGraph::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

inlineinherited

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.

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CRobotPosesGraph::insertIntoMetricMap

(

CMultiMetricMap &

metricMap

)

const

Insert all the observations in the map (without erasing previous contents).

void mrpt::hmtslam::CRobotPosesGraph::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

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

Implements mrpt::utils::CSerializable.

void mrpt::hmtslam::CRobotPosesGraph::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

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

See Also

CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::hmtslam::CRobotPosesGraph::_init_CRobotPosesGraph

staticprotected

Definition at line 61 of file CRobotPosesGraph.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::classCRobotPosesGraph

static

Definition at line 61 of file CRobotPosesGraph.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CRobotPosesGraph::classinfo

static

Definition at line 61 of file CRobotPosesGraph.h.

T std::map< K, T >::elements

inherited

STL member.

K std::map< K, T >::keys

inherited

STL member.