mrpt::hmtslam Namespace Reference

Detailed Description

Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

Classes
class	CHierarchicalMapMHPartition
	Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
struct	CHierarchicalMHMapPtr
class	CHierarchicalMHMap
	The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
class	CHMHMapArc
	A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
struct	CHMHMapNodePtr
class	CHMHMapNode
	A class for representing a node in a hierarchical, multi-hypothesis map. More...
struct	CHMTSLAMPtr
class	CHMTSLAM
	An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
class	CLSLAMAlgorithmBase
	Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More...
class	CLSLAM_RBPF_2DLASER
	Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...
struct	CLSLAMParticleDataPtr
struct	CLocalMetricHypothesisPtr
class	CLSLAMParticleData
	Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More...
class	CLocalMetricHypothesis
	This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). More...
struct	TPoseInfo
	Information kept for each robot pose used in CRobotPosesGraph. More...
struct	CRobotPosesGraphPtr
class	CRobotPosesGraph
	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. More...
class	CTopLCDetector_FabMap
class	CTopLCDetector_GridMatching
class	CTopLCDetectorBase
	The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
struct	CHMHMapArcPtr
struct	THypothesisIDSetPtr
class	THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...
class	TArcList
	A class for storing a sequence of arcs (a path). More...

Typedefs
typedef std::map < CHMHMapNode::TNodeID, CHMHMapNodePtr >	TNodeList
	A map between node IDs and nodes (used in HMT-SLAM).
typedef list_searchable < CHMHMapNode::TNodeID >	TNodeIDList
typedef std::set < CHMHMapNode::TNodeID >	TNodeIDSet
typedef std::pair < CHMHMapNode::TNodeID, CHMHMapNode::TNodeID >	TPairNodeIDs
typedef stlplus::smart_ptr < CTopLCDetectorBase >	CTopLCDetectorBasePtr
typedef int64_t	THypothesisID
	An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.
typedef uint64_t	TPoseID
	An integer number uniquely identifying each robot pose stored in HMT-SLAM.
typedef std::pair< TPoseID, TPoseID >	TPairPoseIDs
typedef std::vector< TPoseID >	TPoseIDList
typedef std::set< TPoseID >	TPoseIDSet

Functions
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHMHMapNodePtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHMTSLAMPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLSLAMParticleDataPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CLocalMetricHypothesisPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CRobotPosesGraphPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj)

Variables
class HMTSLAM_IMPEXP	CHierarchicalMHMap
class HMTSLAM_IMPEXP	CHMHMapArc
class HMTSLAM_IMPEXP	CHMTSLAM
class HMTSLAM_IMPEXP	CLSLAM_RBPF_2DLASER
class HMTSLAM_IMPEXP	CHMHMapNode

Typedef Documentation

typedef stlplus::smart_ptr<CTopLCDetectorBase> mrpt::hmtslam::CTopLCDetectorBasePtr

Definition at line 104 of file CTopLCDetectorBase.h.

typedef int64_t mrpt::hmtslam::THypothesisID

An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.

The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree". They can be generated from CHMTSLAM::generateHypothesisID()

Definition at line 81 of file HMT_SLAM_common.h.

typedef list_searchable<CHMHMapNode::TNodeID> mrpt::hmtslam::TNodeIDList

Definition at line 169 of file CHMHMapNode.h.

typedef std::set<CHMHMapNode::TNodeID> mrpt::hmtslam::TNodeIDSet

Definition at line 170 of file CHMHMapNode.h.

typedef std::map<CHMHMapNode::TNodeID,CHMHMapNodePtr> mrpt::hmtslam::TNodeList

A map between node IDs and nodes (used in HMT-SLAM).

See Also

CHMTSLAM

Definition at line 168 of file CHMHMapNode.h.

typedef std::pair<CHMHMapNode::TNodeID,CHMHMapNode::TNodeID> mrpt::hmtslam::TPairNodeIDs

Definition at line 171 of file CHMHMapNode.h.

typedef std::pair<TPoseID,TPoseID> mrpt::hmtslam::TPairPoseIDs

Definition at line 88 of file HMT_SLAM_common.h.

typedef uint64_t mrpt::hmtslam::TPoseID

An integer number uniquely identifying each robot pose stored in HMT-SLAM.

They can be generated from CHMTSLAM::generatePoseID()

Definition at line 86 of file HMT_SLAM_common.h.

typedef std::vector<TPoseID> mrpt::hmtslam::TPoseIDList

Definition at line 90 of file HMT_SLAM_common.h.

typedef std::set<TPoseID> mrpt::hmtslam::TPoseIDSet

Definition at line 91 of file HMT_SLAM_common.h.

Function Documentation

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CHierarchicalMHMapPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CHMHMapNodePtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CRobotPosesGraphPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CLSLAMParticleDataPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CLocalMetricHypothesisPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CHMTSLAMPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		CHMHMapArcPtr &	pObj
	)

::mrpt::utils::CStream& mrpt::hmtslam::operator>>	(	mrpt::utils::CStream &	in,
		THypothesisIDSetPtr &	pObj
	)

Variable Documentation

class HMTSLAM_IMPEXP mrpt::hmtslam::CHierarchicalMHMap

Definition at line 40 of file CHMHMapArc.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapArc

Definition at line 47 of file CHMHMapNode.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapNode

Definition at line 72 of file HMT_SLAM_common.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMTSLAM

Definition at line 58 of file CLocalMetricHypothesis.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CLSLAM_RBPF_2DLASER

Definition at line 59 of file CLocalMetricHypothesis.h.