Detailed Description

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.

The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.

Note: Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".; Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a type with that name to allow backward compatibility.

See also: CSensoryFrame, CPosePDF

Definition at line 32 of file CSimpleMap.h.

#include <mrpt/maps/CSimpleMap.h>

Inheritance diagram for mrpt::maps::CSimpleMap:

Public Member Functions
	CSimpleMap ()=default
	Default constructor (empty map) More...

	CSimpleMap (const CSimpleMap &o)
	Copy constructor. More...

CSimpleMap &	operator= (const CSimpleMap &o)
	Copy. 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...

Map access and modification
bool	saveToFile (const std::string &filName) const
	Save this object to a .simplemap binary file (compressed with gzip) More...

bool	loadFromFile (const std::string &filName)
	Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) More...

size_t	size () const
	Returns the count of pairs (pose,sensory data) More...

bool	empty () const
	Returns size()!=0. More...

void	get (size_t index, mrpt::poses::CPose3DPDF::Ptr &out_posePDF, mrpt::obs::CSensoryFrame::Ptr &out_SF) const
	Access to the i'th pair, first one is index '0'. More...

void	set (size_t index, const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Changes the i'th pair, first one is index '0'. More...

void	set (size_t index, const mrpt::poses::CPosePDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Changes the i'th pair, first one is index '0'. More...

void	remove (size_t index)
	Deletes the i'th pair, first one is index '0'. More...

void	insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...

void	insert (const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...

void	insertToPos (size_t index, const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Insert a new pair to the sequence, making a copy of the smart pointer (it's not made unique) to. More...

void	insert (const mrpt::poses::CPosePDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence. More...

void	clear ()
	Remove all stored pairs. More...

void	changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
	Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. 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...

Protected Member Functions
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...

Private Attributes
TPosePDFSensFramePairList	m_posesObsPairs
	The stored data. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::maps ::CSimpleMap >

using	ConstPtr = std::shared_ptr< const mrpt::maps ::CSimpleMap >

using	UniquePtr = std::unique_ptr< mrpt::maps ::CSimpleMap >

using	ConstUniquePtr = std::unique_ptr< const mrpt::maps ::CSimpleMap >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::maps" "::" "CSimpleMap"

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...

Iterators API
using	TPosePDFSensFramePair = std::pair< mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr >

using	TPosePDFSensFramePairList = std::deque< TPosePDFSensFramePair >

using	const_iterator = TPosePDFSensFramePairList::const_iterator

using	iterator = TPosePDFSensFramePairList::iterator

using	reverse_iterator = TPosePDFSensFramePairList::reverse_iterator

using	const_reverse_iterator = TPosePDFSensFramePairList::const_reverse_iterator

const_iterator	begin () const

const_iterator	end () const

iterator	begin ()

iterator	end ()

const_reverse_iterator	rbegin () const

const_reverse_iterator	rend () const

reverse_iterator	rbegin ()

reverse_iterator	rend ()

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::CSimpleMap::const_iterator = TPosePDFSensFramePairList::const_iterator

Definition at line 179 of file CSimpleMap.h.

◆ const_reverse_iterator

using mrpt::maps::CSimpleMap::const_reverse_iterator = TPosePDFSensFramePairList::const_reverse_iterator

Definition at line 183 of file CSimpleMap.h.

◆ ConstPtr

using mrpt::maps::CSimpleMap::ConstPtr = std::shared_ptr<const mrpt::maps :: CSimpleMap >

Definition at line 34 of file CSimpleMap.h.

◆ ConstUniquePtr

using mrpt::maps::CSimpleMap::ConstUniquePtr = std::unique_ptr<const mrpt::maps :: CSimpleMap >

Definition at line 34 of file CSimpleMap.h.

◆ iterator

using mrpt::maps::CSimpleMap::iterator = TPosePDFSensFramePairList::iterator

Definition at line 180 of file CSimpleMap.h.

◆ Ptr

using mrpt::maps::CSimpleMap::Ptr = std::shared_ptr< mrpt::maps :: CSimpleMap >

A type for the associated smart pointer

Definition at line 34 of file CSimpleMap.h.

◆ reverse_iterator

using mrpt::maps::CSimpleMap::reverse_iterator = TPosePDFSensFramePairList::reverse_iterator

Definition at line 181 of file CSimpleMap.h.

◆ TPosePDFSensFramePair

using mrpt::maps::CSimpleMap::TPosePDFSensFramePair = std::pair<mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr>

Definition at line 176 of file CSimpleMap.h.

◆ TPosePDFSensFramePairList

using mrpt::maps::CSimpleMap::TPosePDFSensFramePairList = std::deque<TPosePDFSensFramePair>

Definition at line 177 of file CSimpleMap.h.

◆ UniquePtr

using mrpt::maps::CSimpleMap::UniquePtr = std::unique_ptr< mrpt::maps :: CSimpleMap >

Definition at line 34 of file CSimpleMap.h.

Constructor & Destructor Documentation

◆ CSimpleMap() [1/2]

mrpt::maps::CSimpleMap::CSimpleMap ( )

default

Default constructor (empty map)

◆ CSimpleMap() [2/2]

CSimpleMap::CSimpleMap ( const CSimpleMap & o )

Copy constructor.

Definition at line 34 of file CSimpleMap.cpp.

References fn_pair_make_unique, and m_posesObsPairs.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ begin() [1/2]

const_iterator mrpt::maps::CSimpleMap::begin ( ) const

inline

Definition at line 185 of file CSimpleMap.h.

References m_posesObsPairs.

◆ begin() [2/2]

iterator mrpt::maps::CSimpleMap::begin ( )

inline

Definition at line 187 of file CSimpleMap.h.

References m_posesObsPairs.

◆ changeCoordinatesOrigin()

void CSimpleMap::changeCoordinatesOrigin ( const mrpt::poses::CPose3D & newOrigin )

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

Definition at line 268 of file CSimpleMap.cpp.

References m_posesObsPairs.

◆ clear()

void CSimpleMap::clear ( )

Remove all stored pairs.

See also: remove

Definition at line 55 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap(), mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile(), mrpt::slam::CRangeBearingKFSLAM2D::reset(), mrpt::slam::CRangeBearingKFSLAM::reset(), and serializeFrom().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::maps::CSimpleMap::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::maps::CSimpleMap::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CSimpleMap.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::maps::CSimpleMap::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 34 of file CSimpleMap.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::maps::CSimpleMap::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::maps::CSimpleMap::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CSimpleMap.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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◆ empty()

bool CSimpleMap::empty ( ) const

Returns size()!=0.

Definition at line 54 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::initialize(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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◆ end() [1/2]

const_iterator mrpt::maps::CSimpleMap::end ( ) const

inline

Definition at line 186 of file CSimpleMap.h.

References m_posesObsPairs.

◆ end() [2/2]

iterator mrpt::maps::CSimpleMap::end ( )

inline

Definition at line 188 of file CSimpleMap.h.

References m_posesObsPairs.

◆ get()

void CSimpleMap::get	(	size_t	index,
		mrpt::poses::CPose3DPDF::Ptr &	out_posePDF,
		mrpt::obs::CSensoryFrame::Ptr &	out_SF
	)		const

Access to the i'th pair, first one is index '0'.

NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so do neither modify them nor delete them. NOTE: You can pass a nullptr pointer if you dont need one of the two variables to be returned.

Exceptions

std::exception On index out of bounds.

Definition at line 56 of file CSimpleMap.cpp.

References m_posesObsPairs, and THROW_EXCEPTION.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), and mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile().

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◆ getClassName()

static constexpr auto mrpt::maps::CSimpleMap::getClassName ( )

inlinestatic

Definition at line 34 of file CSimpleMap.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::maps::CSimpleMap::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::maps::CSimpleMap::GetRuntimeClassIdStatic ( )

static

◆ insert() [1/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion.

Definition at line 138 of file CSimpleMap.cpp.

References ASSERT_, mrpt::rtti::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap(), insert(), mrpt::slam::CRangeBearingKFSLAM2D::processActionObservation(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ insert() [2/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

Definition at line 100 of file CSimpleMap.cpp.

References ASSERT_, mrpt::rtti::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insert() [3/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

Definition at line 120 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

◆ insert() [4/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 197 of file CSimpleMap.cpp.

References insert().

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◆ insert() [5/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 158 of file CSimpleMap.cpp.

References ASSERT_, mrpt::rtti::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insert() [6/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 177 of file CSimpleMap.cpp.

References ASSERT_, mrpt::rtti::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insertToPos()

void CSimpleMap::insertToPos	(	size_t	index,
		const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Insert a new pair to the sequence, making a copy of the smart pointer (it's not made unique) to.

Parameters

index Position in the simplemap where new element will be inserted to

Definition at line 203 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

◆ loadFromFile()

bool CSimpleMap::loadFromFile ( const std::string & filName )

Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)

See also: saveToFile

Returns: false on any error.

Definition at line 297 of file CSimpleMap.cpp.

References mrpt::serialization::archiveFrom().

Referenced by TEST().

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◆ operator=()

CSimpleMap & CSimpleMap::operator= ( const CSimpleMap & o )

Copy.

Definition at line 40 of file CSimpleMap.cpp.

References fn_pair_make_unique, m_posesObsPairs, MRPT_END, and MRPT_START.

◆ rbegin() [1/2]

const_reverse_iterator mrpt::maps::CSimpleMap::rbegin ( ) const

inline

Definition at line 189 of file CSimpleMap.h.

References m_posesObsPairs.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::initialize().

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◆ rbegin() [2/2]

reverse_iterator mrpt::maps::CSimpleMap::rbegin ( )

inline

Definition at line 197 of file CSimpleMap.h.

References m_posesObsPairs.

◆ remove()

void CSimpleMap::remove ( size_t index )

Deletes the i'th pair, first one is index '0'.

Exceptions

std::exception On index out of bounds.

See also: insert, get, set

Definition at line 65 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ rend() [1/2]

const_reverse_iterator mrpt::maps::CSimpleMap::rend ( ) const

inline

Definition at line 193 of file CSimpleMap.h.

References m_posesObsPairs.

◆ rend() [2/2]

reverse_iterator mrpt::maps::CSimpleMap::rend ( )

inline

Definition at line 198 of file CSimpleMap.h.

References m_posesObsPairs.

◆ saveToFile()

bool CSimpleMap::saveToFile ( const std::string & filName ) const

Save this object to a .simplemap binary file (compressed with gzip)

See also: loadFromFile

Returns: false on any error.

Definition at line 278 of file CSimpleMap.cpp.

References mrpt::serialization::archiveFrom().

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◆ serializeFrom() [1/2]

void CSimpleMap::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 229 of file CSimpleMap.cpp.

References clear(), m_posesObsPairs, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ 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 CSimpleMap::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 222 of file CSimpleMap.cpp.

◆ serializeTo() [1/2]

void CSimpleMap::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 223 of file CSimpleMap.cpp.

References m_posesObsPairs, 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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◆ set() [1/2]

void CSimpleMap::set	(	size_t	index,
		const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is nullptr, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).

Exceptions

std::exception On index out of bounds.

See also: insert, get, remove

Definition at line 73 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

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◆ set() [2/2]

void CSimpleMap::set	(	size_t	index,
		const mrpt::poses::CPosePDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is nullptr, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Exceptions

std::exception On index out of bounds.

See also: insert, get, remove

Definition at line 84 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ size()

size_t CSimpleMap::size ( ) const

Returns the count of pairs (pose,sensory data)

Definition at line 53 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarksAsIfFixedSubmaps(), mrpt::maps::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), run_test_pf_localization(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile(), and TEST().

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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.

Member Data Documentation

◆ className

constexpr const char* mrpt::maps::CSimpleMap::className = "mrpt::maps" "::" "CSimpleMap"

static

Definition at line 34 of file CSimpleMap.h.

◆ m_posesObsPairs

TPosePDFSensFramePairList mrpt::maps::CSimpleMap::m_posesObsPairs

private

The stored data.

Definition at line 203 of file CSimpleMap.h.

Referenced by begin(), changeCoordinatesOrigin(), clear(), CSimpleMap(), empty(), end(), get(), insert(), insertToPos(), operator=(), rbegin(), remove(), rend(), serializeFrom(), serializeTo(), set(), and size().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::maps::CSimpleMap::runtimeClassId

staticprotected

Definition at line 34 of file CSimpleMap.h.

Detailed Description

Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Iterators API

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ reverse_iterator

◆ TPosePDFSensFramePair

◆ TPosePDFSensFramePairList

◆ UniquePtr

Constructor & Destructor Documentation

◆ CSimpleMap() [1/2]

◆ CSimpleMap() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesOrigin()

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ get()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert() [1/6]

◆ insert() [2/6]

◆ insert() [3/6]

◆ insert() [4/6]

◆ insert() [5/6]

◆ insert() [6/6]

◆ insertToPos()

◆ loadFromFile()

◆ operator=()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ remove()

◆ rend() [1/2]

◆ rend() [2/2]

◆ saveToFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ set() [1/2]

◆ set() [2/2]

◆ size()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_posesObsPairs

◆ runtimeClassId