Detailed Description

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.

See also: CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

Definition at line 29 of file CHierarchicalMHMap.h.

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:

Public Types
typedef TNodeList::iterator	iterator

typedef TNodeList::const_iterator	const_iterator

typedef std::vector< CHMHMapNode::TNodeID >	TNodeIDsList
	A type that reprensents a sequence of node IDs. 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

	CHierarchicalMHMap ()
	Default constructor. More...

void	dumpAsXMLfile (std::string fileName) const
	Destructor. More...

void	loadFromXMLfile (std::string fileName)
	Load a graph from a XML file. More...

virtual	~CHierarchicalMHMap ()

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

const_iterator	begin () const
	Returns an iterator to the first node in the graph. More...

iterator	begin ()
	Returns an iterator to the first node in the graph. More...

const_iterator	end () const
	Returns an iterator to the end of the list of nodes in the graph. More...

iterator	end ()
	Returns an iterator to the end of the list of nodes in the graph. More...

size_t	nodeCount () const
	Returns the number of nodes in the partition: More...

size_t	arcCount () const
	Returns the number of arcs in the partition: More...

CHMHMapNode::Ptr	getFirstNode ()
	Returns the first node in the graph, or nullptr if it does not exist. More...

CHMHMapNode::Ptr	getNodeByID (CHMHMapNode::TNodeID id)
	Returns the node with the given ID, or nullptr if it does not exist. More...

const CHMHMapNode::Ptr	getNodeByID (CHMHMapNode::TNodeID id) const
	Returns the node with the given ID, or nullptr if it does not exist. More...

CHMHMapNode::Ptr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID)
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More...

const CHMHMapNode::Ptr	getNodeByLabel (const std::string &label, const THypothesisID &hypothesisID) const
	Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist. More...

void	saveAreasDiagramForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const
	Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) More...

void	saveAreasDiagramWithEllipsedForMATLAB (const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const
	Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. More...

void	saveGlobalMapForMATLAB (const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const
	Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: More...

void	findPathBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const
	The Dijkstra algorithm for finding the shortest path between a pair of nodes. More...

void	computeCoordinatesTransformationBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, mrpt::poses::CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=mrpt::utils::DEG2RAD(0.1)) const
	Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. More...

float	computeMatchProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, mrpt::poses::CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300)
	Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". More...

void	findArcsBetweenNodes (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const
	Returns all the arcs between a pair of nodes: More...

void	findArcsOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const
	Returns the arcs between a pair of nodes of a given type. More...

CHMHMapArc::Ptr	findArcOfTypeBetweenNodes (const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const
	Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. More...

bool	areNodesNeightbour (const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=nullptr) const
	Returns whether two nodes are "neightbour", i.e. More...

void	computeGloballyConsistentNodeCoordinates (std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian >>> &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const
	This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. More...

void	getAs3DScene (mrpt::opengl::COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const
	Returns a 3D scene reconstruction of the hierarchical map. More...

void	dumpAsText (utils::CStringList &s) const
	Return a textual description of the whole graph. More...

double	computeOverlapProbabilityBetweenNodes (const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const
	Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. 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)

Protected Member Functions
void	onNodeAddition (CHMHMapNode::Ptr &node)
	Event handler to be called just after a node has being created: it will be added to the internal list. More...

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

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

void	onArcDestruction (CHMHMapArc *arc)
	Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. 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
TNodeList	m_nodes
	The internal list of nodes and arcs in the whole hierarchical model. More...

TArcList	m_arcs

Friends
class	CHMHMapArc

class	CHMHMapNode

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

using	ConstPtr = std::shared_ptr< const CHierarchicalMHMap >

static mrpt::utils::CLASSINIT	_init_CHierarchicalMHMap

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CHierarchicalMHMap"

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

◆ const_iterator

typedef TNodeList::const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator

inherited

Definition at line 51 of file CHierarchicalMapMHPartition.h.

◆ ConstPtr

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

Definition at line 35 of file CHierarchicalMHMap.h.

◆ iterator

typedef TNodeList::iterator mrpt::hmtslam::CHierarchicalMapMHPartition::iterator

inherited

Definition at line 50 of file CHierarchicalMapMHPartition.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 35 of file CHierarchicalMHMap.h.

◆ TNodeIDsList

typedef std::vector<CHMHMapNode::TNodeID> mrpt::hmtslam::CHierarchicalMapMHPartition::TNodeIDsList

inherited

A type that reprensents a sequence of node IDs.

Definition at line 64 of file CHierarchicalMapMHPartition.h.

Constructor & Destructor Documentation

◆ CHierarchicalMHMap()

CHierarchicalMHMap::CHierarchicalMHMap ( )

Default constructor.

Definition at line 26 of file CHierarchicalMHMap.cpp.

◆ ~CHierarchicalMHMap()

CHierarchicalMHMap::~CHierarchicalMHMap ( )

virtual

Definition at line 30 of file CHierarchicalMHMap.cpp.

References mrpt::utils::clear().

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Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ arcCount()

size_t CHierarchicalMapMHPartition::arcCount ( ) const

inherited

Returns the number of arcs in the partition:

Definition at line 44 of file CHierarchicalMapMHPartition.cpp.

◆ areNodesNeightbour()

bool CHierarchicalMapMHPartition::areNodesNeightbour	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		const char *	requiredAnnotation = `nullptr`
	)		const

inherited

Returns whether two nodes are "neightbour", i.e.

have a direct arc between them

Definition at line 1072 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ begin() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( ) const

inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 54 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ begin() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::begin ( )

inlineinherited

Returns an iterator to the first node in the graph.

Definition at line 56 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ clear()

void CHierarchicalMHMap::clear ( )

Erase all the contents of map (It delete all nodes/arcs objects)

Definition at line 34 of file CHierarchicalMHMap.cpp.

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ computeCoordinatesTransformationBetweenNodes()

void CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		mrpt::poses::CPose3DPDFParticles &	posePDF,
		const THypothesisID &	hypothesisID,
		unsigned int	particlesCount = `100`,
		float	additionalNoiseXYratio = `0.02`,
		float	additionalNoisePhiRad = `mrpt::utils::DEG2RAD(0.1)`
	)		const

inherited

Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.

Exceptions

std::exception If there is not enought information in arcs to compute the PDF

See also: computeGloballyConsistentNodeCoordinates

Definition at line 865 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFGaussian::drawManySamples(), mrpt::random::getRandomGenerator(), mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_REF_POSEID, mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >::normalizeWeights(), and mrpt::poses::CPose3DPDFParticles::resetDeterministic().

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◆ computeGloballyConsistentNodeCoordinates()

void CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates	(	std::map< CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, mrpt::poses::CPose3DPDFGaussian >>> &	nodePoses,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterations = `2`
	)		const

inherited

This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.

Global coordinates will be computed relative to the node "idReferenceNode".

Exceptions

std::exception If there is any node without a pose arc, invalid (non invertible) matrixes, etc...

See also: computeCoordinatesTransformationBetweenNodes

Definition at line 1328 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, mrpt::poses::CPose3DPDFGaussianInf::copyFrom(), mrpt::poses::CPose3DPDFGaussian::cov, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::insertEdgeAtEnd(), mrpt::poses::CPose3DPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::graphslam::optimize_graph_spa_levmarq(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root.

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◆ computeMatchProbabilityBetweenNodes()

float CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		float &	maxMatchProb,
		mrpt::poses::CPose3DPDFSOG &	estimatedRelativePose,
		const THypothesisID &	hypothesisID,
		unsigned int	monteCarloSamplesPose = `300`
	)

inherited

Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".

Definition at line 994 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ computeOverlapProbabilityBetweenNodes()

double CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		const size_t &	monteCarloSamples = `100`,
		const float	margin_to_substract = `6`
	)		const

inherited

Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.

Exceptions

std::exception If there is not enought information in arcs, etc...

Parameters

margin_to_substract In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.

Definition at line 1583 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, mrpt::bayes::CParticleFilterData< T >::m_particles, MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, and mrpt::math::RectanglesIntersection().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 35 of file CHierarchicalMHMap.h.

◆ CreateObject()

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

static

◆ dumpAsText()

void CHierarchicalMapMHPartition::dumpAsText ( utils::CStringList & s ) const

inherited

Return a textual description of the whole graph.

Definition at line 1408 of file CHierarchicalMapMHPartition.cpp.

References ARC_ANNOTATION_DELTA, ARC_ANNOTATION_DELTA_SRC_POSEID, ARC_ANNOTATION_DELTA_TRG_POSEID, ASSERT_, mrpt::utils::CStringList::clear(), mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::poses::CPose3DPDFParticles::getMean(), mrpt::poses::CPose3DPDFGaussian::mean, NODE_ANNOTATION_POSES_GRAPH, NODE_ANNOTATION_REF_POSEID, mrpt::poses::CPose3D::pitch(), RAD2DEG, mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

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◆ dumpAsXMLfile()

void CHierarchicalMHMap::dumpAsXMLfile ( std::string fileName ) const

Destructor.

Save the whole graph as a XML file

Definition at line 291 of file CHierarchicalMHMap.cpp.

References ASSERT_, mrpt::poses::CPoint< DERIVEDCLASS >::asString(), mrpt::utils::CSimpleDatabase::createTable(), mrpt::format(), IS_CLASS, mrpt::utils::ObjectToString(), and mrpt::utils::CSimpleDatabase::saveAsXML().

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◆ end() [1/2]

const_iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( ) const

inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 58 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ end() [2/2]

iterator mrpt::hmtslam::CHierarchicalMapMHPartition::end ( )

inlineinherited

Returns an iterator to the end of the list of nodes in the graph.

Definition at line 60 of file CHierarchicalMapMHPartition.h.

References mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes.

◆ findArcOfTypeBetweenNodes()

CHMHMapArc::Ptr CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		bool &	isInverted
	)		const

inherited

Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.

Returns: The arc, or nullptr if not found.

Definition at line 1549 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsBetweenNodes()

void CHierarchicalMapMHPartition::findArcsBetweenNodes	(	const CHMHMapNode::TNodeID &	node1,
		const CHMHMapNode::TNodeID &	node2,
		const THypothesisID &	hypothesisID,
		TArcList &	out_listArcs
	)		const

inherited

Returns all the arcs between a pair of nodes:

Definition at line 1013 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findArcsOfTypeBetweenNodes()

void CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes	(	const CHMHMapNode::TNodeID &	node1id,
		const CHMHMapNode::TNodeID &	node2id,
		const THypothesisID &	hypothesisID,
		const std::string &	arcType,
		TArcList &	ret
	)		const

inherited

Returns the arcs between a pair of nodes of a given type.

Definition at line 1042 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, and MRPT_START.

◆ findPathBetweenNodes()

void CHierarchicalMapMHPartition::findPathBetweenNodes	(	const CHMHMapNode::TNodeID &	nodeFrom,
		const CHMHMapNode::TNodeID &	nodeTo,
		const THypothesisID &	hypothesisID,
		TArcList &	out_path,
		bool	direction = `false`
	)		const

inherited

The Dijkstra algorithm for finding the shortest path between a pair of nodes.

Returns: The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.

Definition at line 735 of file CHierarchicalMapMHPartition.cpp.

References ASSERT_, ASSERTMSG_, MRPT_END, and MRPT_START.

◆ getAs3DScene()

void CHierarchicalMapMHPartition::getAs3DScene	(	mrpt::opengl::COpenGLScene &	outScene,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		const unsigned int &	numberOfIterationsForOptimalGlobalPoses = `5`,
		const bool &	showRobotPoseIDs = `true`
	)		const

inherited

Returns a 3D scene reconstruction of the hierarchical map.

See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"

Definition at line 1108 of file CHierarchicalMapMHPartition.cpp.

References mrpt::poses::CPose3D::addComponents(), mrpt::opengl::COpenGLScene::clear(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::opengl::COpenGLScene::insert(), MRPT_END, MRPT_START, NODE_ANNOTATION_METRIC_MAPS, NODE_ANNOTATION_POSES_GRAPH, mrpt::poses::CPose3D::normalizeAngles(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ getFirstNode()

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getFirstNode ( )

inherited

Returns the first node in the graph, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 118 of file CHierarchicalMapMHPartition.cpp.

◆ getNodeByID() [1/2]

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id )

inherited

Returns the node with the given ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 48 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

◆ getNodeByID() [2/2]

const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID ( CHMHMapNode::TNodeID id ) const

inherited

Returns the node with the given ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 62 of file CHierarchicalMapMHPartition.cpp.

References AREAID_INVALID, MRPT_END, and MRPT_START.

◆ getNodeByLabel() [1/2]

CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)

inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 77 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

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◆ getNodeByLabel() [2/2]

const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel	(	const std::string &	label,
		const THypothesisID &	hypothesisID
	)		const

inherited

Returns the node with the given label (case insensitive) for some given hypothesis ID, or nullptr if it does not exist.

Returns: A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"

Definition at line 97 of file CHierarchicalMapMHPartition.cpp.

References mrpt::system::os::_strcmpi(), MRPT_END, and MRPT_START.

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◆ GetRuntimeClass()

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

static

◆ loadFromXMLfile()

void CHierarchicalMHMap::loadFromXMLfile ( std::string fileName )

Load a graph from a XML file.

Definition at line 184 of file CHierarchicalMHMap.cpp.

References COMMON_TOPOLOG_HYP, mrpt::utils::CSimpleDatabase::getTable(), mrpt::utils::CSimpleDatabase::loadFromXML(), NODE_ANNOTATION_PLACE_POSE, and mrpt::system::tokenize().

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◆ nodeCount()

size_t CHierarchicalMapMHPartition::nodeCount ( ) const

inherited

Returns the number of nodes in the partition:

Definition at line 40 of file CHierarchicalMapMHPartition.cpp.

◆ onArcAddition()

void CHierarchicalMHMap::onArcAddition ( CHMHMapArc::Ptr & arc )

protected

Event handler to be called just after an arc has being created: it will be added to the internal list.

Definition at line 172 of file CHierarchicalMHMap.cpp.

◆ onArcDestruction()

void CHierarchicalMHMap::onArcDestruction ( CHMHMapArc * arc )

protected

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.

Definition at line 140 of file CHierarchicalMHMap.cpp.

◆ onNodeAddition()

void CHierarchicalMHMap::onNodeAddition ( CHMHMapNode::Ptr & node )

protected

Event handler to be called just after a node has being created: it will be added to the internal list.

Definition at line 151 of file CHierarchicalMHMap.cpp.

References ASSERT_.

◆ onNodeDestruction()

void CHierarchicalMHMap::onNodeDestruction ( CHMHMapNode * node )

protected

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.

Definition at line 127 of file CHierarchicalMHMap.cpp.

References mrpt::hmtslam::CHMHMapNode::getID().

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◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator new() [1/3]

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

inlinenoexcept

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator new() [2/3]

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

inline

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 35 of file CHierarchicalMHMap.h.

◆ operator new[]()

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

inline

Definition at line 35 of file CHierarchicalMHMap.h.

◆ readFromStream()

void CHierarchicalMHMap::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 CHierarchicalMHMap.cpp.

References mrpt::utils::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ saveAreasDiagramForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID
	)		const

inherited

Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)

The partition may be empty if no node fulfills the condition.
All arcs STARTING at each node from the partition will be added to the partition as well.
Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.
See also
CHMHMapArc Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:
Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 129 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

◆ saveAreasDiagramWithEllipsedForMATLAB()

void CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB	(	const std::string &	filName,
		const CHMHMapNode::TNodeID &	idReferenceNode,
		const THypothesisID &	hypothesisID,
		float	uncertaintyExagerationFactor = `1.0f`,
		bool	drawArcs = `false`,
		unsigned int	numberOfIterationsForOptimalGlobalPoses = `4`
	)		const

inherited

Saves a MATLAB script that represents graphically the nodes with type="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.

ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 308 of file CHierarchicalMapMHPartition.cpp.

References MRPT_UNUSED_PARAM.

◆ saveGlobalMapForMATLAB()

void CHierarchicalMapMHPartition::saveGlobalMapForMATLAB	(	const std::string &	filName,
		const THypothesisID &	hypothesisID,
		const CHMHMapNode::TNodeID &	idReferenceNode
	)		const

inherited

Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES:

Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.
If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.

Definition at line 487 of file CHierarchicalMapMHPartition.cpp.

References MRPT_END, MRPT_START, and MRPT_UNUSED_PARAM.

◆ 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 CHierarchicalMHMap::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 58 of file CHierarchicalMHMap.cpp.

Friends And Related Function Documentation

◆ CHMHMapArc

friend class CHMHMapArc

friend

Definition at line 32 of file CHierarchicalMHMap.h.

◆ CHMHMapNode

friend class CHMHMapNode

friend

Definition at line 33 of file CHierarchicalMHMap.h.

Member Data Documentation

◆ _init_CHierarchicalMHMap

mrpt::utils::CLASSINIT mrpt::hmtslam::CHierarchicalMHMap::_init_CHierarchicalMHMap

staticprotected

Definition at line 35 of file CHierarchicalMHMap.h.

◆ className

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

static

Definition at line 35 of file CHierarchicalMHMap.h.

◆ m_arcs

TArcList mrpt::hmtslam::CHierarchicalMapMHPartition::m_arcs

protectedinherited

Definition at line 47 of file CHierarchicalMapMHPartition.h.

◆ m_nodes

TNodeList mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes

protectedinherited

The internal list of nodes and arcs in the whole hierarchical model.

The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.

Definition at line 46 of file CHierarchicalMapMHPartition.h.

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::begin(), and mrpt::hmtslam::CHierarchicalMapMHPartition::end().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHierarchicalMHMap::runtimeClassId

staticprotected

Definition at line 35 of file CHierarchicalMHMap.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

◆ TNodeIDsList

Constructor & Destructor Documentation

◆ CHierarchicalMHMap()

◆ ~CHierarchicalMHMap()

Member Function Documentation

◆ _GetBaseClass()

◆ arcCount()

◆ areNodesNeightbour()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ computeCoordinatesTransformationBetweenNodes()

◆ computeGloballyConsistentNodeCoordinates()

◆ computeMatchProbabilityBetweenNodes()

◆ computeOverlapProbabilityBetweenNodes()

◆ Create()

◆ CreateObject()

◆ dumpAsText()

◆ dumpAsXMLfile()

◆ end() [1/2]

◆ end() [2/2]

◆ findArcOfTypeBetweenNodes()

◆ findArcsBetweenNodes()

◆ findArcsOfTypeBetweenNodes()

◆ findPathBetweenNodes()

◆ getAs3DScene()

◆ getFirstNode()

◆ getNodeByID() [1/2]

◆ getNodeByID() [2/2]

◆ getNodeByLabel() [1/2]

◆ getNodeByLabel() [2/2]

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadFromXMLfile()

◆ nodeCount()

◆ onArcAddition()

◆ onArcDestruction()

◆ onNodeAddition()

◆ onNodeDestruction()

◆ 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()

◆ saveAreasDiagramForMATLAB()

◆ saveAreasDiagramWithEllipsedForMATLAB()

◆ saveGlobalMapForMATLAB()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ CHMHMapArc

◆ CHMHMapNode

Member Data Documentation

◆ _init_CHierarchicalMHMap

◆ className

◆ m_arcs

◆ m_nodes

◆ runtimeClassId