#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/list_searchable.h>
#include <set>

Classes
class	mrpt::hmtslam::THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...

class	mrpt::hmtslam::TArcList
	A class for storing a sequence of arcs (a path). More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.

	mrpt::hmtslam
	Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

Macros
#define	COMMON_TOPOLOG_HYP static_cast<THypothesisID>(0)

#define	NODE_ANNOTATION_METRIC_MAPS "metricMaps"

#define	NODE_ANNOTATION_REF_POSEID "refPoseID"

#define	NODE_ANNOTATION_POSES_GRAPH "posesGraph"

#define	NODE_ANNOTATION_PLACE_POSE "placePose"

#define	ARC_ANNOTATION_DELTA "Delta"

#define	ARC_ANNOTATION_DELTA_SRC_POSEID "Delta_poseID_src"

#define	ARC_ANNOTATION_DELTA_TRG_POSEID "Delta_poseID_trg"

#define	ARC_TYPES "Membership,Navegability,RelativePose,Location"
	Used in constructor of mrpt::hmtslam::CHMHMapArc. More...

#define	DEFAULT_ARC_TYPE "Membership"

#define	NODE_TYPES "Place,Area,TopologicalMap,Object"
	Used in constructor of mrpt::hmtslam::CHMHMapNode. More...

#define	DEFAULT_NODE_TYPE "Place"

#define	POSEID_INVALID static_cast<TPoseID>(-1)

#define	AREAID_INVALID static_cast<uint64_t>(-1)

#define	MSG_SOURCE_LSLAM 1

#define	MSG_SOURCE_AA 2

Typedefs
typedef int64_t	mrpt::hmtslam::THypothesisID
	An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. More...

typedef uint64_t	mrpt::hmtslam::TPoseID
	An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...

typedef std::pair< TPoseID, TPoseID >	mrpt::hmtslam::TPairPoseIDs

typedef std::vector< TPoseID >	mrpt::hmtslam::TPoseIDList

typedef std::set< TPoseID >	mrpt::hmtslam::TPoseIDSet

Macro Definition Documentation

◆ ARC_ANNOTATION_DELTA

#define ARC_ANNOTATION_DELTA "Delta"

Definition at line 24 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), and mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

◆ ARC_ANNOTATION_DELTA_SRC_POSEID

#define ARC_ANNOTATION_DELTA_SRC_POSEID "Delta_poseID_src"

Definition at line 27 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), and mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

◆ ARC_ANNOTATION_DELTA_TRG_POSEID

#define ARC_ANNOTATION_DELTA_TRG_POSEID "Delta_poseID_trg"

Definition at line 29 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), and mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

◆ ARC_TYPES

#define ARC_TYPES "Membership,Navegability,RelativePose,Location"

Used in constructor of mrpt::hmtslam::CHMHMapArc.

Definition at line 33 of file HMT_SLAM_common.h.

◆ AREAID_INVALID

#define AREAID_INVALID static_cast<uint64_t>(-1)

Definition at line 43 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID(), mrpt::hmtslam::CHMHMapArc::getNodeFrom(), mrpt::hmtslam::CHMHMapArc::getNodeTo(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::hmtslam::CHMHMapArc::onNodeDestruction().

◆ COMMON_TOPOLOG_HYP

#define COMMON_TOPOLOG_HYP static_cast<THypothesisID>(0)

Definition at line 16 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::THypothesisIDSet::has(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile().

◆ DEFAULT_ARC_TYPE

#define DEFAULT_ARC_TYPE "Membership"

Definition at line 34 of file HMT_SLAM_common.h.

◆ DEFAULT_NODE_TYPE

#define DEFAULT_NODE_TYPE "Place"

Definition at line 38 of file HMT_SLAM_common.h.

◆ MSG_SOURCE_AA

#define MSG_SOURCE_AA 2

Definition at line 46 of file HMT_SLAM_common.h.

◆ MSG_SOURCE_LSLAM

#define MSG_SOURCE_LSLAM 1

Definition at line 45 of file HMT_SLAM_common.h.

◆ NODE_ANNOTATION_METRIC_MAPS

#define NODE_ANNOTATION_METRIC_MAPS "metricMaps"

Definition at line 18 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ NODE_ANNOTATION_PLACE_POSE

#define NODE_ANNOTATION_PLACE_POSE "placePose"

Definition at line 22 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile().

◆ NODE_ANNOTATION_POSES_GRAPH

#define NODE_ANNOTATION_POSES_GRAPH "posesGraph"

Definition at line 20 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ NODE_ANNOTATION_REF_POSEID

#define NODE_ANNOTATION_REF_POSEID "refPoseID"

Definition at line 19 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(), mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText(), mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::hmtslam::CHMTSLAM::perform_TLC(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH(), and mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ NODE_TYPES

#define NODE_TYPES "Place,Area,TopologicalMap,Object"

Used in constructor of mrpt::hmtslam::CHMHMapNode.

Definition at line 37 of file HMT_SLAM_common.h.

◆ POSEID_INVALID

#define POSEID_INVALID static_cast<TPoseID>(-1)

Definition at line 41 of file HMT_SLAM_common.h.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::processOneLMH().

Classes

Namespaces

Macros

Typedefs