CHMHMapArc.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/hmtslam/CHMHMapNode.h>
#include <mrpt/obs/CSensoryFrame.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::hmtslam
{
class CHierarchicalMHMap;

/** A class for representing an arc between two nodes in a hierarchical,
 * multi-hypothesis map.
 *   The arc itself will be considered only if some given hypothesisID matchs
 * its own ID.
 * \note Create objects by invoking the class factory "::Create"
 *
 * \sa CHierarchicalMHMap,CHMHMapNode
 * \ingroup mrpt_hmtslam_grp
 */
class CHMHMapArc : public mrpt::serialization::CSerializable
{
    friend class CHierarchicalMHMap;
    friend class CHMHMapNode;
    friend class CHierarchicalMapMHPartition;
    friend class TArcList;

    DEFINE_SERIALIZABLE(CHMHMapArc)

   public:
    /** The hypothesis IDs under which this arc exists.
     */
    THypothesisIDSet m_hypotheses;

   protected:
    /** The origin/target nodes for this arc.
     */
    CHMHMapNode::TNodeID m_nodeFrom, m_nodeTo;

    /** The hierarchical graph in which this object is into. */
    mrpt::safe_ptr<CHierarchicalMHMap> m_parent;

    /** 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
     *   When a node involved in the arc is delected, the corresponding pointer
     * in the arc will be set to nullptr and the arc is no longer a valid one.
     */
    void onNodeDestruction(CHMHMapNode* node);

   public:
    /** Private constructor (see ::Create class factory)
     */
    CHMHMapArc(
        const CHMHMapNode::TNodeID& from = 0,
        const CHMHMapNode::TNodeID& to = 0,
        const THypothesisIDSet& hyps = THypothesisIDSet(),
        CHierarchicalMHMap* parent = nullptr);

    /** Alternative constructor, using pointers for convenience.
     */
    CHMHMapArc(
        CHMHMapNode::Ptr& from, CHMHMapNode::Ptr& to,
        const THypothesisIDSet& hyps, CHierarchicalMHMap* parent);

    /** Destructor
     */
    ~CHMHMapArc() override;

    /** Return the starting node of the arc:
     */
    CHMHMapNode::TNodeID getNodeFrom() const
    {
        ASSERT_(m_nodeFrom != AREAID_INVALID);
        return m_nodeFrom;
    }

    /** Return the ending node of the arc:
     */
    CHMHMapNode::TNodeID getNodeTo() const
    {
        ASSERT_(m_nodeTo != AREAID_INVALID);
        return m_nodeTo;
    }

    /** The type of the arc, the possibilities are:
            - "Membership": for abstractions
            - "Navegability"
            - "RelativePose"
      */
    std::string m_arcType;

    /** The annotations of the arc, see the general description of the class for
     * possible properties and values.
     */
    CMHPropertiesValuesList m_annotations;

};  // End of class def.

}  // namespace mrpt::hmtslam