Detailed Description

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.

The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.

Note: Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".; Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility.

See also: CSensoryFrame, CPosePDF

Definition at line 35 of file CSimpleMap.h.

#include <mrpt/maps/CSimpleMap.h>

Inheritance diagram for mrpt::maps::CSimpleMap:

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

	CSimpleMap ()
	Default constructor (empty map) More...

	CSimpleMap (const CSimpleMap &o)
	Copy constructor. More...

virtual	~CSimpleMap ()
	Destructor: More...

CSimpleMap &	operator= (const CSimpleMap &o)
	Copy. 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...

Map access and modification
bool	saveToFile (const std::string &filName) const
	Save this object to a .simplemap binary file (compressed with gzip) More...

bool	loadFromFile (const std::string &filName)
	Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) More...

size_t	size () const
	Returns the count of pairs (pose,sensory data) More...

bool	empty () const
	Returns size()!=0. More...

void	get (size_t index, mrpt::poses::CPose3DPDF::Ptr &out_posePDF, mrpt::obs::CSensoryFrame::Ptr &out_SF) const
	Access to the i'th pair, first one is index '0'. More...

void	set (size_t index, const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Changes the i'th pair, first one is index '0'. More...

void	set (size_t index, const mrpt::poses::CPosePDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Changes the i'th pair, first one is index '0'. More...

void	remove (size_t index)
	Deletes the i'th pair, first one is index '0'. More...

void	insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPose3DPDF *in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...

void	insert (const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). More...

void	insertToPos (size_t index, const mrpt::poses::CPose3DPDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Insert a new pair to the sequence, making a copy of the smart pointer (it's not made unique) to. More...

void	insert (const mrpt::poses::CPosePDF::Ptr &in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFrame &in_SF)
	Add a new pair to the sequence. More...

void	insert (const mrpt::poses::CPosePDF *in_posePDF, const mrpt::obs::CSensoryFrame::Ptr &in_SF)
	Add a new pair to the sequence. More...

void	clear ()
	Remove all stored pairs. More...

void	changeCoordinatesOrigin (const mrpt::poses::CPose3D &newOrigin)
	Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. 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
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...

Private Attributes
TPosePDFSensFramePairList	m_posesObsPairs
	The stored data. More...

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

using	ConstPtr = std::shared_ptr< const CSimpleMap >

static mrpt::utils::CLASSINIT	_init_CSimpleMap

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CSimpleMap"

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...

Iterators API
typedef std::pair< mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr >	TPosePDFSensFramePair

typedef std::deque< TPosePDFSensFramePair >	TPosePDFSensFramePairList

typedef TPosePDFSensFramePairList::const_iterator	const_iterator

typedef TPosePDFSensFramePairList::iterator	iterator

typedef TPosePDFSensFramePairList::reverse_iterator	reverse_iterator

typedef TPosePDFSensFramePairList::const_reverse_iterator	const_reverse_iterator

const_iterator	begin () const

const_iterator	end () const

iterator	begin ()

iterator	end ()

const_reverse_iterator	rbegin () const

const_reverse_iterator	rend () const

reverse_iterator	rbegin ()

reverse_iterator	rend ()

Member Typedef Documentation

◆ const_iterator

typedef TPosePDFSensFramePairList::const_iterator mrpt::maps::CSimpleMap::const_iterator

Definition at line 185 of file CSimpleMap.h.

◆ const_reverse_iterator

typedef TPosePDFSensFramePairList::const_reverse_iterator mrpt::maps::CSimpleMap::const_reverse_iterator

Definition at line 189 of file CSimpleMap.h.

◆ ConstPtr

using mrpt::maps::CSimpleMap::ConstPtr = std::shared_ptr<const CSimpleMap >

Definition at line 37 of file CSimpleMap.h.

◆ iterator

typedef TPosePDFSensFramePairList::iterator mrpt::maps::CSimpleMap::iterator

Definition at line 186 of file CSimpleMap.h.

◆ Ptr

using mrpt::maps::CSimpleMap::Ptr = std::shared_ptr< CSimpleMap >

A typedef for the associated smart pointer

Definition at line 37 of file CSimpleMap.h.

◆ reverse_iterator

typedef TPosePDFSensFramePairList::reverse_iterator mrpt::maps::CSimpleMap::reverse_iterator

Definition at line 187 of file CSimpleMap.h.

◆ TPosePDFSensFramePair

typedef std::pair<mrpt::poses::CPose3DPDF::Ptr, mrpt::obs::CSensoryFrame::Ptr> mrpt::maps::CSimpleMap::TPosePDFSensFramePair

Definition at line 182 of file CSimpleMap.h.

◆ TPosePDFSensFramePairList

typedef std::deque<TPosePDFSensFramePair> mrpt::maps::CSimpleMap::TPosePDFSensFramePairList

Definition at line 183 of file CSimpleMap.h.

Constructor & Destructor Documentation

◆ CSimpleMap() [1/2]

CSimpleMap::CSimpleMap ( )

Default constructor (empty map)

Definition at line 32 of file CSimpleMap.cpp.

◆ CSimpleMap() [2/2]

CSimpleMap::CSimpleMap ( const CSimpleMap & o )

Copy constructor.

Definition at line 36 of file CSimpleMap.cpp.

References m_posesObsPairs.

◆ ~CSimpleMap()

CSimpleMap::~CSimpleMap ( )

virtual

Destructor:

Definition at line 74 of file CSimpleMap.cpp.

References clear().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::CSimpleMap::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

const_iterator mrpt::maps::CSimpleMap::begin ( ) const

inline

Definition at line 191 of file CSimpleMap.h.

References m_posesObsPairs.

◆ begin() [2/2]

iterator mrpt::maps::CSimpleMap::begin ( )

inline

Definition at line 193 of file CSimpleMap.h.

References m_posesObsPairs.

◆ changeCoordinatesOrigin()

void CSimpleMap::changeCoordinatesOrigin ( const mrpt::poses::CPose3D & newOrigin )

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

Definition at line 315 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin(), and mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes().

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◆ clear()

void CSimpleMap::clear ( )

Remove all stored pairs.

See also: remove

Definition at line 70 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CIncrementalMapPartitioner::clear(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap(), mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile(), readFromStream(), mrpt::slam::CRangeBearingKFSLAM2D::reset(), mrpt::slam::CRangeBearingKFSLAM::reset(), and ~CSimpleMap().

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◆ clone()

virtual mrpt::utils::CObject* mrpt::maps::CSimpleMap::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::maps::CSimpleMap::Create ( Args &&... args )

inlinestatic

Definition at line 37 of file CSimpleMap.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::CSimpleMap::CreateObject ( )

static

◆ empty()

bool CSimpleMap::empty ( ) const

Returns size()!=0.

Definition at line 66 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::initialize(), and mrpt::maps::CRandomFieldGridMap2D::internal_clear().

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◆ end() [1/2]

const_iterator mrpt::maps::CSimpleMap::end ( ) const

inline

Definition at line 192 of file CSimpleMap.h.

References m_posesObsPairs.

◆ end() [2/2]

iterator mrpt::maps::CSimpleMap::end ( )

inline

Definition at line 194 of file CSimpleMap.h.

References m_posesObsPairs.

◆ get()

void CSimpleMap::get	(	size_t	index,
		mrpt::poses::CPose3DPDF::Ptr &	out_posePDF,
		mrpt::obs::CSensoryFrame::Ptr &	out_SF
	)		const

Access to the i'th pair, first one is index '0'.

NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so do neither modify them nor delete them. NOTE: You can pass a nullptr pointer if you dont need one of the two variables to be returned.

Exceptions

std::exception On index out of bounds.

Definition at line 78 of file CSimpleMap.cpp.

References m_posesObsPairs, and THROW_EXCEPTION.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin(), mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), and mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::CSimpleMap::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::maps::CSimpleMap::GetRuntimeClassIdStatic ( )

static

◆ insert() [1/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion.

Definition at line 177 of file CSimpleMap.cpp.

References mrpt::utils::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap(), insert(), mrpt::slam::CRangeBearingKFSLAM2D::processActionObservation(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

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◆ insert() [2/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

Definition at line 141 of file CSimpleMap.cpp.

References mrpt::utils::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insert() [3/6]

void CSimpleMap::insert	(	const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

Definition at line 159 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

◆ insert() [4/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 230 of file CSimpleMap.cpp.

References insert().

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◆ insert() [5/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 195 of file CSimpleMap.cpp.

References mrpt::utils::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insert() [6/6]

void CSimpleMap::insert	(	const mrpt::poses::CPosePDF *	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Definition at line 212 of file CSimpleMap.cpp.

References mrpt::utils::CObject::clone(), m_posesObsPairs, MRPT_END, and MRPT_START.

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◆ insertToPos()

void CSimpleMap::insertToPos	(	size_t	index,
		const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Insert a new pair to the sequence, making a copy of the smart pointer (it's not made unique) to.

Parameters

index Position in the simplemap where new element will be inserted to

Definition at line 236 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

◆ loadFromFile()

bool CSimpleMap::loadFromFile ( const std::string & filName )

Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)

See also: saveToFile

Returns: false on any error.

Definition at line 345 of file CSimpleMap.cpp.

◆ operator delete() [1/3]

void mrpt::maps::CSimpleMap::operator delete ( void * ptr )

inlinenoexcept

Definition at line 37 of file CSimpleMap.h.

◆ operator delete() [2/3]

void mrpt::maps::CSimpleMap::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 37 of file CSimpleMap.h.

◆ operator delete() [3/3]

void mrpt::maps::CSimpleMap::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 37 of file CSimpleMap.h.

◆ operator delete[]()

void mrpt::maps::CSimpleMap::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 37 of file CSimpleMap.h.

◆ operator new() [1/3]

static void* mrpt::maps::CSimpleMap::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 37 of file CSimpleMap.h.

◆ operator new() [2/3]

void* mrpt::maps::CSimpleMap::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 37 of file CSimpleMap.h.

◆ operator new() [3/3]

void* mrpt::maps::CSimpleMap::operator new ( size_t size )

inline

Definition at line 37 of file CSimpleMap.h.

◆ operator new[]()

void* mrpt::maps::CSimpleMap::operator new[] ( size_t size )

inline

Definition at line 37 of file CSimpleMap.h.

◆ operator=()

CSimpleMap & CSimpleMap::operator= ( const CSimpleMap & o )

Copy.

Definition at line 45 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, and MRPT_START.

◆ rbegin() [1/2]

const_reverse_iterator mrpt::maps::CSimpleMap::rbegin ( ) const

inline

Definition at line 195 of file CSimpleMap.h.

References m_posesObsPairs.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::initialize().

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◆ rbegin() [2/2]

reverse_iterator mrpt::maps::CSimpleMap::rbegin ( )

inline

Definition at line 203 of file CSimpleMap.h.

References m_posesObsPairs.

◆ readFromStream()

void CSimpleMap::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 277 of file CSimpleMap.cpp.

References clear(), m_posesObsPairs, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ remove()

void CSimpleMap::remove ( size_t index )

Deletes the i'th pair, first one is index '0'.

Exceptions

std::exception On index out of bounds.

See also: insert, get, set

Definition at line 91 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes().

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◆ rend() [1/2]

const_reverse_iterator mrpt::maps::CSimpleMap::rend ( ) const

inline

Definition at line 199 of file CSimpleMap.h.

References m_posesObsPairs.

◆ rend() [2/2]

reverse_iterator mrpt::maps::CSimpleMap::rend ( )

inline

Definition at line 204 of file CSimpleMap.h.

References m_posesObsPairs.

◆ saveToFile()

bool CSimpleMap::saveToFile ( const std::string & filName ) const

Save this object to a .simplemap binary file (compressed with gzip)

See also: loadFromFile

Returns: false on any error.

Definition at line 326 of file CSimpleMap.cpp.

References CFileGZOutputStream.

◆ set() [1/2]

void CSimpleMap::set	(	size_t	index,
		const mrpt::poses::CPose3DPDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is nullptr, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).

Exceptions

std::exception On index out of bounds.

See also: insert, get, remove

Definition at line 105 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ set() [2/2]

void CSimpleMap::set	(	size_t	index,
		const mrpt::poses::CPosePDF::Ptr &	in_posePDF,
		const mrpt::obs::CSensoryFrame::Ptr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is nullptr, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Exceptions

std::exception On index out of bounds.

See also: insert, get, remove

Definition at line 122 of file CSimpleMap.cpp.

References m_posesObsPairs, MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ size()

size_t CSimpleMap::size ( ) const

Returns the count of pairs (pose,sensory data)

Definition at line 65 of file CSimpleMap.cpp.

References m_posesObsPairs.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), mrpt::maps::CMultiMetricMapPDF::clear(), mrpt::slam::CIncrementalMapPartitioner::getAs3DScene(), mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize(), mrpt::slam::CMetricMapBuilderRBPF::getCurrentlyBuiltMapSize(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarksAsIfFixedSubmaps(), mrpt::slam::CIncrementalMapPartitioner::getNodesCount(), mrpt::maps::CMultiMetricMapPDF::getNumberOfObservationsInSimplemap(), mrpt::slam::CMetricMapBuilderICP::initialize(), mrpt::slam::CMetricMapBuilderRBPF::initialize(), mrpt::maps::CMetricMap::loadFromProbabilisticPosesAndObservations(), mrpt::slam::CRangeBearingKFSLAM::processActionObservation(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes(), run_test_pf_localization(), mrpt::slam::CRangeBearingKFSLAM2D::saveMapAndPath2DRepresentationAsMATLABFile(), and mrpt::slam::CRangeBearingKFSLAM::saveMapAndPath2DRepresentationAsMATLABFile().

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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 CSimpleMap::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 260 of file CSimpleMap.cpp.

References m_posesObsPairs.

Member Data Documentation

◆ _init_CSimpleMap

mrpt::utils::CLASSINIT mrpt::maps::CSimpleMap::_init_CSimpleMap

staticprotected

Definition at line 37 of file CSimpleMap.h.

◆ className

constexpr const char* mrpt::maps::CSimpleMap::className = "CSimpleMap"

static

Definition at line 37 of file CSimpleMap.h.

◆ m_posesObsPairs

TPosePDFSensFramePairList mrpt::maps::CSimpleMap::m_posesObsPairs

private

The stored data.

Definition at line 209 of file CSimpleMap.h.

Referenced by begin(), changeCoordinatesOrigin(), clear(), CSimpleMap(), empty(), end(), get(), insert(), insertToPos(), operator=(), rbegin(), readFromStream(), remove(), rend(), set(), size(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::CSimpleMap::runtimeClassId

staticprotected

Definition at line 37 of file CSimpleMap.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Iterators API

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

◆ reverse_iterator

◆ TPosePDFSensFramePair

◆ TPosePDFSensFramePairList

Constructor & Destructor Documentation

◆ CSimpleMap() [1/2]

◆ CSimpleMap() [2/2]

◆ ~CSimpleMap()

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ changeCoordinatesOrigin()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ get()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert() [1/6]

◆ insert() [2/6]

◆ insert() [3/6]

◆ insert() [4/6]

◆ insert() [5/6]

◆ insert() [6/6]

◆ insertToPos()

◆ loadFromFile()

◆ 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[]()

◆ operator=()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ readFromStream()

◆ remove()

◆ rend() [1/2]

◆ rend() [2/2]

◆ saveToFile()

◆ set() [1/2]

◆ set() [2/2]

◆ size()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CSimpleMap

◆ className

◆ m_posesObsPairs

◆ runtimeClassId