CHierarchicalMHMap.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CHierarchicalMHMap_H
#define CHierarchicalMHMap_H

#include <mrpt/hmtslam/CHMHMapNode.h>
#include <mrpt/hmtslam/CHMHMapArc.h>
#include <mrpt/hmtslam/CHierarchicalMapMHPartition.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/maps/CMultiMetricMap.h>
#include <mrpt/utils/CSerializable.h>

namespace mrpt
{
namespace hmtslam
{
/** The most high level class for storing hybrid, multi-hypothesis maps in a
 * graph-based model.
 *   This class is used within the HMT-SLAM implementation in CHMTSLAM.
 * \sa CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition
  * \ingroup mrpt_hmtslam_grp
 */
class CHierarchicalMHMap : public mrpt::utils::CSerializable,
                                                   public CHierarchicalMapMHPartition
{
        friend class CHMHMapArc;
        friend class CHMHMapNode;

        DEFINE_SERIALIZABLE(CHierarchicalMHMap)
   protected:
        /** Event handler to be called just after a node has being created: it will
         * be added to the internal list.
          */
        void onNodeAddition(CHMHMapNode::Ptr& node);

        /** Event handler to be called just after an arc has being created: it will
         * be added to the internal list.
          */
        void onArcAddition(CHMHMapArc::Ptr& arc);

        /** Event handler to be called just before a node is being destroyed: it
         * will be removed from the internal list.
          * \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.
          */
        void onNodeDestruction(CHMHMapNode* node);

        /** Event handler to be called just before an arc is being destroyed: it
         * will be removed from the internal list.
          * \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.
          */
        void onArcDestruction(CHMHMapArc* arc);

   public:
        /** Default constructor
         */
        CHierarchicalMHMap();

        /** Destructor
         */

        /** Save the whole graph as a XML file */
        void dumpAsXMLfile(std::string fileName) const;

        /** Load a graph from a XML file */
        void loadFromXMLfile(std::string fileName);

        virtual ~CHierarchicalMHMap();

        /** Erase all the contents of map (It delete all nodes/arcs objects)
          */
        void clear();

};  // End of class def.

}  // End of namespace
}  // End of namespace

#endif