CHierarchicalMHMap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/CHMHMapArc.h>
#include <mrpt/hmtslam/CHMHMapNode.h>
#include <mrpt/hmtslam/CHierarchicalMapMHPartition.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::hmtslam
{
/** The most high level class for storing hybrid, multi-hypothesis maps in a
 * graph-based model.
 *   This class is used within the HMT-SLAM implementation in CHMTSLAM.
 * \sa CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition
 * \ingroup mrpt_hmtslam_grp
 */
class CHierarchicalMHMap : public mrpt::serialization::CSerializable,
                           public CHierarchicalMapMHPartition
{
    friend class CHMHMapArc;
    friend class CHMHMapNode;

    DEFINE_SERIALIZABLE(CHierarchicalMHMap, mrpt::hmtslam)
   protected:
    /** Event handler to be called just after a node has being created: it will
     * be added to the internal list.
     */
    void onNodeAddition(CHMHMapNode::Ptr& node);

    /** Event handler to be called just after an arc has being created: it will
     * be added to the internal list.
     */
    void onArcAddition(CHMHMapArc::Ptr& arc);

    /** Event handler to be called just before a node is being destroyed: it
     * will be removed from the internal list.
     * \note At *addition we use a smart pointer to assure all the implied guys
     * use the same smrt. pnt., but at destructors the objects don't know
     * anything but "this", thus the usage of plain pointers.
     */
    void onNodeDestruction(CHMHMapNode* node);

    /** Event handler to be called just before an arc is being destroyed: it
     * will be removed from the internal list.
     * \note At *addition we use a smart pointer to assure all the implied guys
     * use the same smrt. pnt., but at destructors the objects don't know
     * anything but "this", thus the usage of plain pointers.
     */
    void onArcDestruction(CHMHMapArc* arc);

   public:
    /** Default constructor
     */
    CHierarchicalMHMap();

    /** Destructor
     */

    /** Save the whole graph as a XML file */
    void dumpAsXMLfile(std::string fileName) const;

    /** Load a graph from a XML file */
    void loadFromXMLfile(std::string fileName);

    ~CHierarchicalMHMap() override;

    /** Erase all the contents of map (It delete all nodes/arcs objects)
     */
    void clear();

};  // End of class def.

}  // namespace mrpt::hmtslam