Detailed Description

A class for representing a node in a hierarchical, multi-hypothesis map.

The node 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,CHMHMapArc

Definition at line 36 of file CHMHMapNode.h.

#include <mrpt/hmtslam/CHMHMapNode.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapNode:

Public Types
typedef mrpt::utils::TNodeID	TNodeID
	The type of the IDs of nodes. More...

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

	CHMHMapNode (CHierarchicalMHMap *parent=nullptr, const THypothesisIDSet &hyps=THypothesisIDSet())
	Constructor. More...

virtual	~CHMHMapNode ()
	Destructor. More...

TNodeID	getID () const
	Reads the ID of the node (read-only property) More...

unsigned int	getLevelInTheHierarchy ()
	Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc. More...

unsigned int	getRelatedArcsCount ()
	Returns the number of arcs starting from/ending into this node. More...

void	getArcs (TArcList &out) const
	Returns a list with the arcs from/to this node. More...

void	getArcs (TArcList &out, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID. More...

void	getArcs (TArcList &out, const char *arcType, const THypothesisID &hyp_id) const
	Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type. More...

bool	isNeighbor (const TNodeID &otherArea, const THypothesisID &hyp_id) const
	Check whether an arc exists towards the given area. 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 node exists. More...

utils::CMHPropertiesValuesList	m_annotations
	The annotations of the node, see the general description of the class for possible properties and values. More...

utils::CTypeSelector	m_nodeType
	The type of the node, the possibilities are: More...

std::string	m_label
	The label of the node, only for display it to the user. More...

Protected Member Functions
void	onArcDestruction (CHMHMapArc *arc)
	Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects. More...

void	onArcAddition (const std::shared_ptr< CHMHMapArc > &arc)
	Event handler for arc addition: It should be only called for arcs from/to this node, although other cases have no effects. 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
TNodeID	m_ID
	An unique identifier for the node: it is randomly generated at construction or read from stream when loaded. More...

TArcList	m_arcs
	The list of all arcs from/to this node: More...

mrpt::utils::safe_ptr< CHierarchicalMHMap >	m_parent
	The hierarchical graph in which this object is into. More...

Friends
class	CHierarchicalMHMap

class	CHierarchicalMHMapPartition

class	CHMHMapArc

RTTI stuff
using	Ptr = std::shared_ptr< CHMHMapNode >

using	ConstPtr = std::shared_ptr< const CHMHMapNode >

static mrpt::utils::CLASSINIT	_init_CHMHMapNode

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CHMHMapNode"

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::CHMHMapNode::ConstPtr = std::shared_ptr<const CHMHMapNode >

Definition at line 42 of file CHMHMapNode.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 42 of file CHMHMapNode.h.

◆ TNodeID

typedef mrpt::utils::TNodeID mrpt::hmtslam::CHMHMapNode::TNodeID

The type of the IDs of nodes.

Definition at line 47 of file CHMHMapNode.h.

Constructor & Destructor Documentation

◆ CHMHMapNode()

CHMHMapNode::CHMHMapNode	(	CHierarchicalMHMap *	parent = `nullptr`,
		const THypothesisIDSet &	hyps = `THypothesisIDSet()`
	)

Constructor.

Definition at line 23 of file CHMHMapNode.cpp.

◆ ~CHMHMapNode()

CHMHMapNode::~CHMHMapNode ( )

virtual

Destructor.

Definition at line 53 of file CHMHMapNode.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapNode::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::CHMHMapNode::Create ( Args &&... args )

inlinestatic

Definition at line 42 of file CHMHMapNode.h.

◆ CreateObject()

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

static

◆ getArcs() [1/3]

void mrpt::hmtslam::CHMHMapNode::getArcs ( TArcList & out ) const

inline

Returns a list with the arcs from/to this node.

Definition at line 123 of file CHMHMapNode.h.

References m_arcs.

◆ getArcs() [2/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID.

Definition at line 185 of file CHMHMapNode.cpp.

◆ getArcs() [3/3]

void CHMHMapNode::getArcs	(	TArcList &	out,
		const char *	arcType,
		const THypothesisID &	hyp_id
	)		const

Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.

Definition at line 195 of file CHMHMapNode.cpp.

◆ getID()

CHMHMapNode::TNodeID CHMHMapNode::getID ( ) const

Reads the ID of the node (read-only property)

Definition at line 149 of file CHMHMapNode.cpp.

Referenced by mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction(), and mrpt::hmtslam::CHMHMapArc::onNodeDestruction().

Here is the caller graph for this function:

◆ getLevelInTheHierarchy()

unsigned int CHMHMapNode::getLevelInTheHierarchy ( )

Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.

Definition at line 153 of file CHMHMapNode.cpp.

◆ getRelatedArcsCount()

unsigned int CHMHMapNode::getRelatedArcsCount ( )

Returns the number of arcs starting from/ending into this node.

Definition at line 177 of file CHMHMapNode.cpp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapNode::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::CHMHMapNode::GetRuntimeClassIdStatic ( )

static

◆ isNeighbor()

bool CHMHMapNode::isNeighbor	(	const TNodeID &	otherArea,
		const THypothesisID &	hyp_id
	)		const

Check whether an arc exists towards the given area.

Definition at line 207 of file CHMHMapNode.cpp.

◆ onArcAddition()

void CHMHMapNode::onArcAddition ( const std::shared_ptr< CHMHMapArc > & arc )

protected

Event handler for arc addition: It should be only called for arcs from/to this node, although other cases have no effects.

Definition at line 132 of file CHMHMapNode.cpp.

References MRPT_END, and MRPT_START.

◆ onArcDestruction()

void CHMHMapNode::onArcDestruction ( CHMHMapArc * arc )

protected

Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.

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.

Definition at line 111 of file CHMHMapNode.cpp.

References mrpt::hmtslam::CHMHMapArc::m_nodeFrom, mrpt::hmtslam::CHMHMapArc::m_nodeTo, MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 42 of file CHMHMapNode.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 42 of file CHMHMapNode.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 42 of file CHMHMapNode.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 42 of file CHMHMapNode.h.

◆ operator new() [1/3]

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

inline

Definition at line 42 of file CHMHMapNode.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 42 of file CHMHMapNode.h.

◆ operator new() [3/3]

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

inlinenoexcept

Definition at line 42 of file CHMHMapNode.h.

◆ operator new[]()

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

inline

Definition at line 42 of file CHMHMapNode.h.

◆ readFromStream()

void CHMHMapNode::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 85 of file CHMHMapNode.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CHMHMapNode::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 67 of file CHMHMapNode.cpp.

Friends And Related Function Documentation

◆ CHierarchicalMHMap

friend class CHierarchicalMHMap

friend

Definition at line 38 of file CHMHMapNode.h.

◆ CHierarchicalMHMapPartition

friend class CHierarchicalMHMapPartition

friend

Definition at line 39 of file CHMHMapNode.h.

◆ CHMHMapArc

friend class CHMHMapArc

friend

Definition at line 40 of file CHMHMapNode.h.

Member Data Documentation

◆ _init_CHMHMapNode

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMHMapNode::_init_CHMHMapNode

staticprotected

Definition at line 42 of file CHMHMapNode.h.

◆ className

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

static

Definition at line 42 of file CHMHMapNode.h.

◆ m_annotations

utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapNode::m_annotations

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

Definition at line 94 of file CHMHMapNode.h.

◆ m_arcs

TArcList mrpt::hmtslam::CHMHMapNode::m_arcs

protected

The list of all arcs from/to this node:

Definition at line 61 of file CHMHMapNode.h.

Referenced by getArcs().

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapNode::m_hypotheses

The hypothesis IDs under which this node exists.

Definition at line 51 of file CHMHMapNode.h.

◆ m_ID

TNodeID mrpt::hmtslam::CHMHMapNode::m_ID

protected

An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.

Definition at line 57 of file CHMHMapNode.h.

◆ m_label

std::string mrpt::hmtslam::CHMHMapNode::m_label

The label of the node, only for display it to the user.

Definition at line 110 of file CHMHMapNode.h.

◆ m_nodeType

utils::CTypeSelector mrpt::hmtslam::CHMHMapNode::m_nodeType

The type of the node, the possibilities are:

Place
Area
TopologicalMap
Object

Definition at line 102 of file CHMHMapNode.h.

◆ m_parent

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

protected

The hierarchical graph in which this object is into.

Definition at line 78 of file CHMHMapNode.h.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMHMapNode::runtimeClassId

staticprotected

Definition at line 42 of file CHMHMapNode.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TNodeID

Constructor & Destructor Documentation

◆ CHMHMapNode()

◆ ~CHMHMapNode()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ getArcs() [1/3]

◆ getArcs() [2/3]

◆ getArcs() [3/3]

◆ getID()

◆ getLevelInTheHierarchy()

◆ getRelatedArcsCount()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ isNeighbor()

◆ onArcAddition()

◆ onArcDestruction()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ CHierarchicalMHMap

◆ CHierarchicalMHMapPartition

◆ CHMHMapArc

Member Data Documentation

◆ _init_CHMHMapNode

◆ className

◆ m_annotations

◆ m_arcs

◆ m_hypotheses

◆ m_ID

◆ m_label

◆ m_nodeType

◆ m_parent

◆ runtimeClassId