mrpt::hmtslam::CHMHMapArc Class Reference

Detailed Description

A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.

The arc itself will be considered only if some given hypothesisID matchs its own ID.

Note

Create objects by invoking the class factory "::Create"

See also

CHierarchicalMHMap,CHMHMapNode

Definition at line 31 of file CHMHMapArc.h.

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) noexcept
void	operator delete[] (void *ptr) noexcept
void	operator delete (void *memory, void *ptr) noexcept
void *	operator new (size_t size, const std::nothrow_t &) noexcept
void	operator delete (void *ptr, const std::nothrow_t &) noexcept
	CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=nullptr)
	Private constructor (see ::Create class factory) More...
	CHMHMapArc (CHMHMapNode::Ptr &from, CHMHMapNode::Ptr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
	Alternative constructor, using pointers for convenience. More...
virtual	~CHMHMapArc ()
	Destructor. More...
CHMHMapNode::TNodeID	getNodeFrom () const
	Return the starting node of the arc: More...
CHMHMapNode::TNodeID	getNodeTo () const
	Return the ending node of the arc: 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...
RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
THypothesisIDSet	m_hypotheses
	The hypothesis IDs under which this arc exists. More...
utils::CTypeSelector	m_arcType
	The type of the arc, the possibilities are: More...
utils::CMHPropertiesValuesList	m_annotations
	The annotations of the arc, see the general description of the class for possible properties and values. More...

Protected Member Functions
void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to nullptr and the arc is no longer a valid one. More...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Protected Attributes
CHMHMapNode::TNodeID	m_nodeFrom
	The origin/target nodes for this arc. More...
CHMHMapNode::TNodeID	m_nodeTo
mrpt::utils::safe_ptr< CHierarchicalMHMap >	m_parent
	The hierarchical graph in which this object is into. More...

Friends
class	CHierarchicalMHMap
class	CHMHMapNode
class	CHierarchicalMapMHPartition
class	TArcList

RTTI stuff
using	Ptr = std::shared_ptr< CHMHMapArc >
using	ConstPtr = std::shared_ptr< const CHMHMapArc >
static mrpt::utils::CLASSINIT	_init_CHMHMapArc
static const mrpt::utils::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "CHMHMapArc"
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static mrpt::utils::CObject *	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

ConstPtr

using mrpt::hmtslam::CHMHMapArc::ConstPtr = std::shared_ptr<const CHMHMapArc >

Definition at line 38 of file CHMHMapArc.h.

Ptr

using mrpt::hmtslam::CHMHMapArc::Ptr = std::shared_ptr< CHMHMapArc >

A typedef for the associated smart pointer

Definition at line 38 of file CHMHMapArc.h.

Constructor & Destructor Documentation

CHMHMapArc() [1/2]

CHMHMapArc::CHMHMapArc	(	const CHMHMapNode::TNodeID &	from = 0,
		const CHMHMapNode::TNodeID &	to = 0,
		const THypothesisIDSet &	hyps = THypothesisIDSet(),
		CHierarchicalMHMap *	parent = nullptr
	)

Private constructor (see ::Create class factory)

Definition at line 21 of file CHMHMapArc.cpp.

CHMHMapArc() [2/2]

CHMHMapArc::CHMHMapArc	(	CHMHMapNode::Ptr &	from,
		CHMHMapNode::Ptr &	to,
		const THypothesisIDSet &	hyps,
		CHierarchicalMHMap *	parent
	)

Alternative constructor, using pointers for convenience.

Definition at line 39 of file CHMHMapArc.cpp.

References m_nodeFrom, and m_nodeTo.

~CHMHMapArc()

CHMHMapArc::~CHMHMapArc ( )

virtual

Destructor.

Definition at line 59 of file CHMHMapArc.cpp.

References m_nodeFrom, m_nodeTo, and m_parent.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::_GetBaseClass ( )

staticprotected

clone()

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

Create()

template<typename... Args>

static Ptr mrpt::hmtslam::CHMHMapArc::Create ( Args &&...  args )

inlinestatic

Definition at line 38 of file CHMHMapArc.h.

CreateObject()

static mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::CreateObject ( )

static

getNodeFrom()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom ( ) const

inline

Return the starting node of the arc:

Definition at line 82 of file CHMHMapArc.h.

References AREAID_INVALID, ASSERT_, and m_nodeFrom.

getNodeTo()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo ( ) const

inline

Return the ending node of the arc:

Definition at line 90 of file CHMHMapArc.h.

References AREAID_INVALID, ASSERT_, and m_nodeTo.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::hmtslam::CHMHMapArc::GetRuntimeClassIdStatic ( )

static

onNodeDestruction()

void CHMHMapArc::onNodeDestruction ( CHMHMapNode *  node )

protected

Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to nullptr and the arc is no longer a valid one.

Definition at line 74 of file CHMHMapArc.cpp.

References AREAID_INVALID, mrpt::hmtslam::CHMHMapNode::getID(), m_nodeFrom, m_nodeTo, MRPT_END, and MRPT_START.

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operator delete() [1/3]

void mrpt::hmtslam::CHMHMapArc::operator delete ( void *  ptr )

inlinenoexcept

Definition at line 38 of file CHMHMapArc.h.

operator delete() [2/3]

void mrpt::hmtslam::CHMHMapArc::operator delete ( void *  memory, void *  ptr  )

inlinenoexcept

Definition at line 38 of file CHMHMapArc.h.

operator delete() [3/3]

void mrpt::hmtslam::CHMHMapArc::operator delete ( void *  ptr, const std::nothrow_t &    )

inlinenoexcept

Definition at line 38 of file CHMHMapArc.h.

operator delete[]()

void mrpt::hmtslam::CHMHMapArc::operator delete[] ( void *  ptr )

inlinenoexcept

Definition at line 38 of file CHMHMapArc.h.

operator new() [1/3]

void* mrpt::hmtslam::CHMHMapArc::operator new ( size_t  size )

inline

Definition at line 38 of file CHMHMapArc.h.

operator new() [2/3]

static void* mrpt::hmtslam::CHMHMapArc::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 38 of file CHMHMapArc.h.

operator new() [3/3]

void* mrpt::hmtslam::CHMHMapArc::operator new ( size_t  size, const std::nothrow_t &    )

inlinenoexcept

Definition at line 38 of file CHMHMapArc.h.

operator new[]()

void* mrpt::hmtslam::CHMHMapArc::operator new[] ( size_t  size )

inline

Definition at line 38 of file CHMHMapArc.h.

readFromStream()

void CHMHMapArc::readFromStream ( mrpt::utils::CStream &  in, int  version  )

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 102 of file CHMHMapArc.cpp.

References ASSERTMSG_, m_annotations, m_arcType, m_hypotheses, m_nodeFrom, m_nodeTo, m_parent, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::utils::CTypeSelector::setType().

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writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

writeToStream()

void CHMHMapArc::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 88 of file CHMHMapArc.cpp.

References mrpt::utils::CTypeSelector::getType(), m_annotations, m_arcType, m_hypotheses, m_nodeFrom, and m_nodeTo.

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Friends And Related Function Documentation

CHierarchicalMapMHPartition

friend class CHierarchicalMapMHPartition

friend

Definition at line 35 of file CHMHMapArc.h.

CHierarchicalMHMap

friend class CHierarchicalMHMap

friend

Definition at line 33 of file CHMHMapArc.h.

CHMHMapNode

friend class CHMHMapNode

friend

Definition at line 34 of file CHMHMapArc.h.

TArcList

friend class TArcList

friend

Definition at line 36 of file CHMHMapArc.h.

Member Data Documentation

_init_CHMHMapArc

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMHMapArc::_init_CHMHMapArc

staticprotected

Definition at line 38 of file CHMHMapArc.h.

className

constexpr const char* mrpt::hmtslam::CHMHMapArc::className = "CHMHMapArc"

static

Definition at line 38 of file CHMHMapArc.h.

m_annotations

utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapArc::m_annotations

The annotations of the arc, see the general description of the class for possible properties and values.

Definition at line 106 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

m_arcType

utils::CTypeSelector mrpt::hmtslam::CHMHMapArc::m_arcType

The type of the arc, the possibilities are:

• "Membership": for abstractions
• "Navegability"
• "RelativePose"

Definition at line 101 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapArc::m_hypotheses

The hypothesis IDs under which this arc exists.

Definition at line 43 of file CHMHMapArc.h.

Referenced by readFromStream(), and writeToStream().

m_nodeFrom

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeFrom

protected

The origin/target nodes for this arc.

Definition at line 48 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), getNodeFrom(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), readFromStream(), writeToStream(), and ~CHMHMapArc().

m_nodeTo

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeTo

protected

Definition at line 48 of file CHMHMapArc.h.

Referenced by CHMHMapArc(), getNodeTo(), mrpt::hmtslam::CHMHMapNode::onArcDestruction(), onNodeDestruction(), readFromStream(), writeToStream(), and ~CHMHMapArc().

m_parent

mrpt::utils::safe_ptr<CHierarchicalMHMap> mrpt::hmtslam::CHMHMapArc::m_parent

protected

The hierarchical graph in which this object is into.

Definition at line 51 of file CHMHMapArc.h.

Referenced by readFromStream(), and ~CHMHMapArc().

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMHMapArc::runtimeClassId

staticprotected

Definition at line 38 of file CHMHMapArc.h.