class mrpt::hmtslam::CRobotPosesGraph

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

class CRobotPosesGraph:
    public mrpt::serialization::CSerializable,
    public std::map< TPoseID, TPoseInfo >
{
public:
    //
fields

    K keys;
    T elements;

    //
methods

    void insertIntoMetricMap(mrpt::maps::CMultiMetricMap& metricMap) const;
    void convertIntoSimplemap(mrpt::maps::CSimpleMap& out_simplemap) const;
};

Fields

K keys

STL member.

T elements

STL member.

Methods

void insertIntoMetricMap(mrpt::maps::CMultiMetricMap& metricMap) const

Insert all the observations in the map (without erasing previous contents).

void convertIntoSimplemap(mrpt::maps::CSimpleMap& out_simplemap) const

Converts the contents of this object into a ‘simplemap’ (mrpt::maps::CSimpleMap) object.