Detailed Description

A class for representing a node in a hierarchical, multi-hypothesis map.

The node 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,CHMHMapArc

Definition at line 33 of file CHMHMapNode.h.

#include <mrpt/hmtslam/CHMHMapNode.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapNode:

Public Types
using	TNodeID = mrpt::graphs::TNodeID
	The type of the IDs of nodes. More...

Public Member Functions
	CHMHMapNode (CHierarchicalMHMap *parent=nullptr, const THypothesisIDSet &hyps=THypothesisIDSet())
	Constructor. More...

	~CHMHMapNode () override
	Destructor. More...

TNodeID	getID () const
	Reads the ID of the node (read-only property) More...

unsigned int	getLevelInTheHierarchy ()
	Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc. More...

unsigned int	getRelatedArcsCount ()
	Returns the number of arcs starting from/ending into this node. More...

void	getArcs (TArcList &out) const
	Returns a list with the arcs from/to this node. More...

void	getArcs (TArcList &out, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID. More...

void	getArcs (TArcList &out, const char *arcType, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type. More...

bool	isNeighbor (const TNodeID &otherArea, const THypothesisID &hyp_id) const
	Check whether an arc exists towards the given area. 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 node exists. More...

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

std::string	m_nodeType
	The type of the node, the possibilities are: More...

std::string	m_label
	The label of the node, only for display it to the user. More...

Protected Member Functions
void	onArcDestruction (CHMHMapArc *arc)
	Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects. More...

void	onArcAddition (const std::shared_ptr< CHMHMapArc > &arc)
	Event handler for arc addition: It should be only called for arcs from/to this node, although other cases have no effects. 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
TNodeID	m_ID {}
	An unique identifier for the node: it is randomly generated at construction or read from stream when loaded. More...

TArcList	m_arcs
	The list of all arcs from/to this node: More...

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

Friends
class	CHierarchicalMHMap

class	CHierarchicalMHMapPartition

class	CHMHMapArc

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

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

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

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

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

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

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::CHMHMapNode::ConstPtr = std::shared_ptr<const mrpt::hmtslam :: CHMHMapNode >

Definition at line 39 of file CHMHMapNode.h.

◆ ConstUniquePtr

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

Definition at line 39 of file CHMHMapNode.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 39 of file CHMHMapNode.h.

◆ TNodeID

using mrpt::hmtslam::CHMHMapNode::TNodeID = mrpt::graphs::TNodeID

The type of the IDs of nodes.

Definition at line 44 of file CHMHMapNode.h.

◆ UniquePtr

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

Definition at line 39 of file CHMHMapNode.h.

Constructor & Destructor Documentation

◆ CHMHMapNode()

CHMHMapNode::CHMHMapNode	(	CHierarchicalMHMap *	parent = `nullptr`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`
	)

Constructor.

Definition at line 23 of file CHMHMapNode.cpp.

◆ ~CHMHMapNode()

CHMHMapNode::~CHMHMapNode ( )

override

Destructor.

Definition at line 54 of file CHMHMapNode.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CHMHMapNode::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::CHMHMapNode::Create ( Args &&... args )

inlinestatic

Definition at line 39 of file CHMHMapNode.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 39 of file CHMHMapNode.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 39 of file CHMHMapNode.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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◆ getArcs() [1/3]

void mrpt::hmtslam::CHMHMapNode::getArcs ( TArcList & out ) const

inline

Returns a list with the arcs from/to this node.

Definition at line 120 of file CHMHMapNode.h.

References m_arcs, and out.

◆ getArcs() [2/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID.

Definition at line 167 of file CHMHMapNode.cpp.

References out.

◆ getArcs() [3/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const char *	arcType,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.

Definition at line 177 of file CHMHMapNode.cpp.

References out.

◆ getClassName()

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

inlinestatic

Definition at line 39 of file CHMHMapNode.h.

◆ getID()

CHMHMapNode::TNodeID CHMHMapNode::getID ( ) const

Reads the ID of the node (read-only property)

Definition at line 131 of file CHMHMapNode.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction(), and mrpt::hmtslam::CHMHMapArc::onNodeDestruction().

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◆ getLevelInTheHierarchy()

unsigned int CHMHMapNode::getLevelInTheHierarchy ( )

Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.

Definition at line 135 of file CHMHMapNode.cpp.

◆ getRelatedArcsCount()

unsigned int CHMHMapNode::getRelatedArcsCount ( )

Returns the number of arcs starting from/ending into this node.

Definition at line 159 of file CHMHMapNode.cpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CHMHMapNode::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::CHMHMapNode::GetRuntimeClassIdStatic ( )

static

◆ isNeighbor()

bool CHMHMapNode::isNeighbor	(	const TNodeID &	otherArea,
		const THypothesisID &	hyp_id
	)		const

Check whether an arc exists towards the given area.

Definition at line 189 of file CHMHMapNode.cpp.

◆ onArcAddition()

void CHMHMapNode::onArcAddition ( const std::shared_ptr< CHMHMapArc > & arc )

protected

Event handler for arc addition: It should be only called for arcs from/to this node, although other cases have no effects.

Definition at line 114 of file CHMHMapNode.cpp.

References MRPT_END, and MRPT_START.

◆ onArcDestruction()

void CHMHMapNode::onArcDestruction ( CHMHMapArc * arc )

protected

Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.

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.

Definition at line 93 of file CHMHMapNode.cpp.

References mrpt::hmtslam::CHMHMapArc::m_nodeFrom, mrpt::hmtslam::CHMHMapArc::m_nodeTo, MRPT_END, and MRPT_START.

◆ serializeFrom() [1/2]

void CHMHMapNode::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 72 of file CHMHMapNode.cpp.

References 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 CHMHMapNode::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 63 of file CHMHMapNode.cpp.

◆ serializeTo() [1/2]

void CHMHMapNode::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 64 of file CHMHMapNode.cpp.

References 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

◆ CHierarchicalMHMap

friend class CHierarchicalMHMap

friend

Definition at line 35 of file CHMHMapNode.h.

◆ CHierarchicalMHMapPartition

friend class CHierarchicalMHMapPartition

friend

Definition at line 36 of file CHMHMapNode.h.

◆ CHMHMapArc

friend class CHMHMapArc

friend

Definition at line 37 of file CHMHMapNode.h.

Member Data Documentation

◆ className

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

static

Definition at line 39 of file CHMHMapNode.h.

◆ m_annotations

CMHPropertiesValuesList mrpt::hmtslam::CHMHMapNode::m_annotations

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

Definition at line 91 of file CHMHMapNode.h.

◆ m_arcs

TArcList mrpt::hmtslam::CHMHMapNode::m_arcs

protected

The list of all arcs from/to this node:

Definition at line 58 of file CHMHMapNode.h.

Referenced by getArcs().

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapNode::m_hypotheses

The hypothesis IDs under which this node exists.

Definition at line 48 of file CHMHMapNode.h.

◆ m_ID

TNodeID mrpt::hmtslam::CHMHMapNode::m_ID {}

protected

An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.

Definition at line 54 of file CHMHMapNode.h.

◆ m_label

std::string mrpt::hmtslam::CHMHMapNode::m_label

The label of the node, only for display it to the user.

Definition at line 107 of file CHMHMapNode.h.

◆ m_nodeType

std::string mrpt::hmtslam::CHMHMapNode::m_nodeType

The type of the node, the possibilities are:

Place
Area
TopologicalMap
Object

Definition at line 99 of file CHMHMapNode.h.

◆ m_parent

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

protected

The hierarchical graph in which this object is into.

Definition at line 75 of file CHMHMapNode.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CHMHMapNode::runtimeClassId

staticprotected

Definition at line 39 of file CHMHMapNode.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ TNodeID

◆ UniquePtr

Constructor & Destructor Documentation

◆ CHMHMapNode()

◆ ~CHMHMapNode()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getArcs() [1/3]

◆ getArcs() [2/3]

◆ getArcs() [3/3]

◆ getClassName()

◆ getID()

◆ getLevelInTheHierarchy()

◆ getRelatedArcsCount()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ isNeighbor()

◆ onArcAddition()

◆ onArcDestruction()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Friends And Related Function Documentation

◆ CHierarchicalMHMap

◆ CHierarchicalMHMapPartition

◆ CHMHMapArc

Member Data Documentation

◆ className

◆ m_annotations

◆ m_arcs

◆ m_hypotheses

◆ m_ID

◆ m_label

◆ m_nodeType

◆ m_parent

◆ runtimeClassId