Detailed Description

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.

Definition at line 39 of file CRobotPosesGraph.h.

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:

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

void	insertIntoMetricMap (mrpt::maps::CMultiMetricMap &metricMap) const
	Insert all the observations in the map (without erasing previous contents). More...

void	convertIntoSimplemap (mrpt::maps::CSimpleMap &out_simplemap) const
	Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. 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
K	keys
	STL member. More...

T	elements
	STL member. More...

Protected Member Functions
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...

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

using	ConstPtr = std::shared_ptr< const CRobotPosesGraph >

static mrpt::utils::CLASSINIT	_init_CRobotPosesGraph

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CRobotPosesGraph"

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

Definition at line 42 of file CRobotPosesGraph.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 42 of file CRobotPosesGraph.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ convertIntoSimplemap()

void CRobotPosesGraph::convertIntoSimplemap ( mrpt::maps::CSimpleMap & out_simplemap ) const

Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.

Definition at line 89 of file CRobotPosesGraph.cpp.

References begin(), mrpt::maps::CSimpleMap::clear(), and mrpt::maps::CSimpleMap::insert().

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◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 42 of file CRobotPosesGraph.h.

◆ CreateObject()

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

static

◆ GetRuntimeClass()

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

static

◆ insertIntoMetricMap()

void CRobotPosesGraph::insertIntoMetricMap ( mrpt::maps::CMultiMetricMap & metricMap ) const

Insert all the observations in the map (without erasing previous contents).

Definition at line 75 of file CRobotPosesGraph.cpp.

References begin().

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◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [1/3]

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

inlinenoexcept

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [2/3]

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

inline

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 42 of file CRobotPosesGraph.h.

◆ operator new[]()

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

inline

Definition at line 42 of file CRobotPosesGraph.h.

◆ readFromStream()

void CRobotPosesGraph::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 46 of file CRobotPosesGraph.cpp.

References mrpt::utils::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::hmtslam::TPoseInfo::pdf, and mrpt::hmtslam::TPoseInfo::sf.

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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 CRobotPosesGraph::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 25 of file CRobotPosesGraph.cpp.

References begin().

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Member Data Documentation

◆ _init_CRobotPosesGraph

mrpt::utils::CLASSINIT mrpt::hmtslam::CRobotPosesGraph::_init_CRobotPosesGraph

staticprotected

Definition at line 42 of file CRobotPosesGraph.h.

◆ className

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

static

Definition at line 42 of file CRobotPosesGraph.h.

◆ elements

T std::map< K, T >::elements

inherited

STL member.

◆ keys

K std::map< K, T >::keys

inherited

STL member.

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::hmtslam::CRobotPosesGraph::runtimeClassId

staticprotected

Definition at line 42 of file CRobotPosesGraph.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ convertIntoSimplemap()

◆ Create()

◆ CreateObject()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insertIntoMetricMap()

◆ 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()

Member Data Documentation

◆ _init_CRobotPosesGraph

◆ className

◆ elements

◆ keys

◆ runtimeClassId