HMT_SLAM_common.h File Reference

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/stl_extensions.h>
#include <mrpt/hmtslam/link_pragmas.h>

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Classes
struct	mrpt::hmtslam::CHMHMapArcPtr
struct	mrpt::hmtslam::THypothesisIDSetPtr
class	mrpt::hmtslam::THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...
class	mrpt::hmtslam::TArcList
	A class for storing a sequence of arcs (a path). More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
namespace	mrpt::hmtslam
	Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
Defines
#define	COMMON_TOPOLOG_HYP   static_cast<THypothesisID>(0)
#define	NODE_ANNOTATION_METRIC_MAPS   "metricMaps"
#define	NODE_ANNOTATION_REF_POSEID   "refPoseID"
#define	NODE_ANNOTATION_POSES_GRAPH   "posesGraph"
#define	NODE_ANNOTATION_PLACE_POSE   "placePose"
#define	ARC_ANNOTATION_DELTA   "Delta"
#define	ARC_ANNOTATION_DELTA_SRC_POSEID   "Delta_poseID_src"
#define	ARC_ANNOTATION_DELTA_TRG_POSEID   "Delta_poseID_trg"
#define	ARC_TYPES   "Membership,Navegability,RelativePose,Location"
	Used in constructor of mrpt::hmtslam::CHMHMapArc.
#define	DEFAULT_ARC_TYPE   "Membership"
#define	NODE_TYPES   "Place,Area,TopologicalMap,Object"
	Used in constructor of mrpt::hmtslam::CHMHMapNode.
#define	DEFAULT_NODE_TYPE   "Place"
#define	POSEID_INVALID   static_cast<TPoseID>(-1)
#define	AREAID_INVALID   static_cast<uint64_t>(-1)
#define	MSG_SOURCE_LSLAM   1
#define	MSG_SOURCE_AA   2
Typedefs
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.
typedef uint64_t	mrpt::hmtslam::TPoseID
	An integer number uniquely identifying each robot pose stored in HMT-SLAM.
typedef std::pair< TPoseID, TPoseID >	mrpt::hmtslam::TPairPoseIDs
typedef std::vector< TPoseID >	mrpt::hmtslam::TPoseIDList
typedef std::set< TPoseID >	mrpt::hmtslam::TPoseIDSet
Functions
::mrpt::utils::CStream &	mrpt::hmtslam::operator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj)
::mrpt::utils::CStream &	mrpt::hmtslam::operator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj)
Variables
class HMTSLAM_IMPEXP	mrpt::hmtslam::CHMHMapNode

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Define Documentation

#define ARC_ANNOTATION_DELTA   "Delta"

Definition at line 45 of file HMT_SLAM_common.h.

#define ARC_ANNOTATION_DELTA_SRC_POSEID   "Delta_poseID_src"

Definition at line 46 of file HMT_SLAM_common.h.

#define ARC_ANNOTATION_DELTA_TRG_POSEID   "Delta_poseID_trg"

Definition at line 47 of file HMT_SLAM_common.h.

#define ARC_TYPES   "Membership,Navegability,RelativePose,Location"

Used in constructor of mrpt::hmtslam::CHMHMapArc.

Definition at line 50 of file HMT_SLAM_common.h.

#define AREAID_INVALID   static_cast<uint64_t>(-1)

Definition at line 60 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHMHMapArc::getNodeFrom(), and mrpt::hmtslam::CHMHMapArc::getNodeTo().

#define COMMON_TOPOLOG_HYP   static_cast<THypothesisID>(0)

Definition at line 37 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::THypothesisIDSet::has().

#define DEFAULT_ARC_TYPE   "Membership"

Definition at line 51 of file HMT_SLAM_common.h.

#define DEFAULT_NODE_TYPE   "Place"

Definition at line 55 of file HMT_SLAM_common.h.

#define MSG_SOURCE_AA   2

Definition at line 63 of file HMT_SLAM_common.h.

#define MSG_SOURCE_LSLAM   1

Definition at line 62 of file HMT_SLAM_common.h.

#define NODE_ANNOTATION_METRIC_MAPS   "metricMaps"

Definition at line 39 of file HMT_SLAM_common.h.

#define NODE_ANNOTATION_PLACE_POSE   "placePose"

Definition at line 43 of file HMT_SLAM_common.h.

#define NODE_ANNOTATION_POSES_GRAPH   "posesGraph"

Definition at line 41 of file HMT_SLAM_common.h.

#define NODE_ANNOTATION_REF_POSEID   "refPoseID"

Definition at line 40 of file HMT_SLAM_common.h.

#define NODE_TYPES   "Place,Area,TopologicalMap,Object"

Used in constructor of mrpt::hmtslam::CHMHMapNode.

Definition at line 54 of file HMT_SLAM_common.h.

#define POSEID_INVALID   static_cast<TPoseID>(-1)

Definition at line 58 of file HMT_SLAM_common.h.