MRPT  1.9.9
mrpt::hmtslam::CLSLAMParticleData Class Reference

Detailed Description

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map).

Definition at line 44 of file CLocalMetricHypothesis.h.

#include <mrpt/hmtslam/CLocalMetricHypothesis.h>

Inheritance diagram for mrpt::hmtslam::CLSLAMParticleData:

Public Member Functions

 CLSLAMParticleData (const mrpt::maps::TSetOfMetricMapInitializers *mapsInitializers=nullptr)
 
virtual mxArraywriteToMatlab () 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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Public Attributes

mrpt::maps::CMultiMetricMap metricMaps
 
TMapPoseID2Pose3D robotPoses
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CLSLAMParticleData >
 
using ConstPtr = std::shared_ptr< const CLSLAMParticleData >
 
using UniquePtr = std::unique_ptr< CLSLAMParticleData >
 
using ConstUniquePtr = std::unique_ptr< const CLSLAMParticleData >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CLSLAMParticleData"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ UniquePtr

Definition at line 46 of file CLocalMetricHypothesis.h.

Constructor & Destructor Documentation

◆ CLSLAMParticleData()

mrpt::hmtslam::CLSLAMParticleData::CLSLAMParticleData ( const mrpt::maps::TSetOfMetricMapInitializers mapsInitializers = nullptr)
inline

Definition at line 49 of file CLocalMetricHypothesis.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLSLAMParticleData::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::hmtslam::CLSLAMParticleData::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::hmtslam::CLSLAMParticleData::Create ( Args &&...  args)
inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::hmtslam::CLSLAMParticleData::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::hmtslam::CLSLAMParticleData::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::hmtslam::CLSLAMParticleData::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 191 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::hmtslam::CLSLAMParticleData::getClassName ( )
inlinestatic

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::hmtslam::CLSLAMParticleData::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::hmtslam::CLSLAMParticleData::GetRuntimeClassIdStatic ( )
static

◆ serializeFrom() [1/2]

void CLSLAMParticleData::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 948 of file CLocalMetricHypothesis.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CLSLAMParticleData::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 963 of file CLocalMetricHypothesis.cpp.

◆ serializeTo() [1/2]

void CLSLAMParticleData::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 964 of file CLocalMetricHypothesis.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::hmtslam::CLSLAMParticleData::className = "CLSLAMParticleData"
static

Definition at line 46 of file CLocalMetricHypothesis.h.

◆ metricMaps

mrpt::maps::CMultiMetricMap mrpt::hmtslam::CLSLAMParticleData::metricMaps

Definition at line 56 of file CLocalMetricHypothesis.h.

◆ robotPoses

TMapPoseID2Pose3D mrpt::hmtslam::CLSLAMParticleData::robotPoses

Definition at line 57 of file CLocalMetricHypothesis.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::hmtslam::CLSLAMParticleData::runtimeClassId
staticprotected

Definition at line 46 of file CLocalMetricHypothesis.h.




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