MRPT  2.0.5
CRobotPosesGraph.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
15 #include <mrpt/maps/CSimpleMap.h>
16 #include <mrpt/obs/CSensoryFrame.h>
18 
19 namespace mrpt::hmtslam
20 {
21 /** Information kept for each robot pose used in CRobotPosesGraph */
22 struct TPoseInfo
23 {
24  /** The observations */
26  /** The robot pose PDF */
28 };
29 
30 /** Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM;
31  * this class stores a set of robot poses and its sensory frames and pose PDF,
32  * for being stored in a HMT-map as a serializable object in annotation
33  * NODE_ANNOTATION_POSES_GRAPH.
34  * \ingroup mrpt_hmtslam_grp
35  */
37  public std::map<TPoseID, TPoseInfo>
38 {
40  public:
41  /** Insert all the observations in the map (without erasing previous
42  * contents). */
43  void insertIntoMetricMap(mrpt::maps::CMultiMetricMap& metricMap) const;
44 
45  /** Converts the contents of this object into a 'simplemap'
46  * (mrpt::maps::CSimpleMap) object. */
47  void convertIntoSimplemap(mrpt::maps::CSimpleMap& out_simplemap) const;
48 
49 }; // end of class
50 
51 } // namespace mrpt::hmtslam
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Definition: CSimpleMap.h:32
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
mrpt::poses::CPose3DPDFParticles pdf
The robot pose PDF.
void insertIntoMetricMap(mrpt::maps::CMultiMetricMap &metricMap) const
Insert all the observations in the map (without erasing previous contents).
void convertIntoSimplemap(mrpt::maps::CSimpleMap &out_simplemap) const
Converts the contents of this object into a &#39;simplemap&#39; (mrpt::maps::CSimpleMap) object.
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Definition: CSensoryFrame.h:51
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
mrpt::obs::CSensoryFrame sf
The observations.
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
Information kept for each robot pose used in CRobotPosesGraph.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
This class stores any customizable set of metric maps.
Declares a class that represents a Probability Density function (PDF) of a 3D pose.



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