Detailed Description

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"

See also: CHierarchicalMHMap,CHMHMapNode

Definition at line 28 of file CHMHMapArc.h.

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:

Public Member Functions
	CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=nullptr)
	Private constructor (see ::Create class factory) More...

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

	~CHMHMapArc () override
	Destructor. More...

CHMHMapNode::TNodeID	getNodeFrom () const
	Return the starting node of the arc: More...

CHMHMapNode::TNodeID	getNodeTo () const
	Return the ending node of the arc: More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Public Attributes
THypothesisIDSet	m_hypotheses
	The hypothesis IDs under which this arc exists. More...

std::string	m_arcType
	The type of the arc, the possibilities are: More...

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

Protected Member Functions
void	onNodeDestruction (CHMHMapNode *node)
	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. More...

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
CHMHMapNode::TNodeID	m_nodeFrom
	The origin/target nodes for this arc. More...

CHMHMapNode::TNodeID	m_nodeTo

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

Friends
class	CHierarchicalMHMap

class	CHMHMapNode

class	CHierarchicalMapMHPartition

class	TArcList

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::hmtslam ::CHMHMapArc >

using	ConstPtr = std::shared_ptr< const mrpt::hmtslam ::CHMHMapArc >

using	UniquePtr = std::unique_ptr< mrpt::hmtslam ::CHMHMapArc >

using	ConstUniquePtr = std::unique_ptr< const mrpt::hmtslam ::CHMHMapArc >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::hmtslam" "::" "CHMHMapArc"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::hmtslam::CHMHMapArc::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CHMHMapArc >

Definition at line 35 of file CHMHMapArc.h.

◆ ConstUniquePtr

using mrpt::hmtslam::CHMHMapArc::ConstUniquePtr = std::unique_ptr<const mrpt::hmtslam :: CHMHMapArc >

Definition at line 35 of file CHMHMapArc.h.

◆ Ptr

using mrpt::hmtslam::CHMHMapArc::Ptr = std::shared_ptr< mrpt::hmtslam :: CHMHMapArc >

A type for the associated smart pointer

Definition at line 35 of file CHMHMapArc.h.

◆ UniquePtr

using mrpt::hmtslam::CHMHMapArc::UniquePtr = std::unique_ptr< mrpt::hmtslam :: CHMHMapArc >

Definition at line 35 of file CHMHMapArc.h.

Constructor & Destructor Documentation

◆ CHMHMapArc() [1/2]

CHMHMapArc::CHMHMapArc	(	const CHMHMapNode::TNodeID &	from = `0`,
		const CHMHMapNode::TNodeID &	to = `0`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`,
		CHierarchicalMHMap *	parent = `nullptr`
	)

Private constructor (see ::Create class factory)

Definition at line 21 of file CHMHMapArc.cpp.

◆ CHMHMapArc() [2/2]

CHMHMapArc::CHMHMapArc	(	CHMHMapNode::Ptr &	from,
		CHMHMapNode::Ptr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)

Alternative constructor, using pointers for convenience.

Definition at line 39 of file CHMHMapArc.cpp.

References m_nodeFrom, and m_nodeTo.

◆ ~CHMHMapArc()

CHMHMapArc::~CHMHMapArc ( )

override

Destructor.

Definition at line 59 of file CHMHMapArc.cpp.

References m_nodeFrom, m_nodeTo, and m_parent.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CHMHMapArc::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::hmtslam::CHMHMapArc::Create ( Args &&... args )

inlinestatic

Definition at line 35 of file CHMHMapArc.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::hmtslam::CHMHMapArc::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 35 of file CHMHMapArc.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CHMHMapArc::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::hmtslam::CHMHMapArc::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 35 of file CHMHMapArc.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getClassName()

static constexpr auto mrpt::hmtslam::CHMHMapArc::getClassName ( )

inlinestatic

Definition at line 35 of file CHMHMapArc.h.

◆ getNodeFrom()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom ( ) const

inline

Return the starting node of the arc:

Definition at line 79 of file CHMHMapArc.h.

References AREAID_INVALID, ASSERT_, and m_nodeFrom.

◆ getNodeTo()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo ( ) const

inline

Return the ending node of the arc:

Definition at line 87 of file CHMHMapArc.h.

References AREAID_INVALID, ASSERT_, and m_nodeTo.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CHMHMapArc::GetRuntimeClassIdStatic ( )

static

◆ onNodeDestruction()

void CHMHMapArc::onNodeDestruction ( CHMHMapNode * node )

protected

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.

Definition at line 74 of file CHMHMapArc.cpp.

References AREAID_INVALID, mrpt::hmtslam::CHMHMapNode::getID(), m_nodeFrom, m_nodeTo, MRPT_END, and MRPT_START.

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◆ serializeFrom() [1/2]

void CHMHMapArc::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 91 of file CHMHMapArc.cpp.

References ASSERTMSG_, m_annotations, m_arcType, m_hypotheses, m_nodeFrom, m_nodeTo, m_parent, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CHMHMapArc::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 85 of file CHMHMapArc.cpp.

◆ serializeTo() [1/2]

void CHMHMapArc::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 86 of file CHMHMapArc.cpp.

References m_annotations, m_arcType, m_hypotheses, m_nodeFrom, m_nodeTo, and out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Friends And Related Function Documentation

◆ CHierarchicalMapMHPartition

friend class CHierarchicalMapMHPartition

friend

Definition at line 32 of file CHMHMapArc.h.

◆ CHierarchicalMHMap

friend class CHierarchicalMHMap

friend

Definition at line 30 of file CHMHMapArc.h.

◆ CHMHMapNode

friend class CHMHMapNode

friend

Definition at line 31 of file CHMHMapArc.h.

◆ TArcList

friend class TArcList

friend

Definition at line 33 of file CHMHMapArc.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CHMHMapArc::className = "mrpt::hmtslam" "::" "CHMHMapArc"

static

Definition at line 35 of file CHMHMapArc.h.

◆ m_annotations

CMHPropertiesValuesList mrpt::hmtslam::CHMHMapArc::m_annotations

The annotations of the arc, see the general description of the class for possible properties and values.

Definition at line 103 of file CHMHMapArc.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_arcType

std::string mrpt::hmtslam::CHMHMapArc::m_arcType

The type of the arc, the possibilities are:

"Membership": for abstractions
"Navegability"
"RelativePose"

Definition at line 98 of file CHMHMapArc.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapArc::m_hypotheses

The hypothesis IDs under which this arc exists.

Definition at line 40 of file CHMHMapArc.h.

Referenced by serializeFrom(), and serializeTo().

◆ m_nodeFrom

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeFrom

protected

The origin/target nodes for this arc.

Definition at line 45 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), getNodeFrom(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), serializeFrom(), serializeTo(), and ~CHMHMapArc().

◆ m_nodeTo

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeTo

protected

Definition at line 45 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), getNodeTo(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), serializeFrom(), serializeTo(), and ~CHMHMapArc().

◆ m_parent

mrpt::safe_ptr<CHierarchicalMHMap> mrpt::hmtslam::CHMHMapArc::m_parent

protected

The hierarchical graph in which this object is into.

Definition at line 48 of file CHMHMapArc.h.

Referenced by serializeFrom(), and ~CHMHMapArc().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CHMHMapArc::runtimeClassId

staticprotected

Definition at line 35 of file CHMHMapArc.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CHMHMapArc() [1/2]

◆ CHMHMapArc() [2/2]

◆ ~CHMHMapArc()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getNodeFrom()

◆ getNodeTo()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ onNodeDestruction()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Friends And Related Function Documentation

◆ CHierarchicalMapMHPartition

◆ CHierarchicalMHMap

◆ CHMHMapNode

◆ TArcList

Member Data Documentation

◆ className

◆ m_annotations

◆ m_arcType

◆ m_hypotheses

◆ m_nodeFrom

◆ m_nodeTo

◆ m_parent

◆ runtimeClassId