struct mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning

Used by AA thread.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

struct TRobotPosesPartitioning
{
    //
fields

    std::mutex lock;
    mrpt::slam::CIncrementalMapPartitioner partitioner;
    std::map<uint32_t, TPoseID> idx2pose;

    // construction

    TRobotPosesPartitioning();
    TRobotPosesPartitioning(const TRobotPosesPartitioning& o);

    //
methods

    unsigned int pose2idx(const TPoseID& id) const;
};

Fields

std::mutex lock

CS to access the entire struct.

std::map<uint32_t, TPoseID> idx2pose

For the poses in “partitioner”.

Methods

unsigned int pose2idx(const TPoseID& id) const

Uses idx2pose to perform inverse searches.