MRPT  1.9.9
Classes | Typedefs
mrpt::hmtslam Namespace Reference

Detailed Description

Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

Classes

class  CHierarchicalMapMHPartition
 Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
 
class  CHierarchicalMHMap
 The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
 
class  CHMHMapArc
 A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
 
class  CHMHMapNode
 A class for representing a node in a hierarchical, multi-hypothesis map. More...
 
class  CHMTSLAM
 An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
 
class  CLocalMetricHypothesis
 This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). More...
 
class  CLSLAM_RBPF_2DLASER
 Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...
 
class  CLSLAMAlgorithmBase
 Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More...
 
class  CLSLAMParticleData
 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). More...
 
class  CMHPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...
 
class  CPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. More...
 
class  CRobotPosesGraph
 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. More...
 
class  CTopLCDetector_FabMap
 
class  CTopLCDetector_GridMatching
 
class  CTopLCDetectorBase
 The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
 
class  TArcList
 A class for storing a sequence of arcs (a path). More...
 
class  THypothesisIDSet
 A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...
 
struct  TPoseInfo
 Information kept for each robot pose used in CRobotPosesGraph. More...
 
struct  TPropertyValueIDTriplet
 Internal triplet for each property in utils::CMHPropertiesValuesList. More...
 

Typedefs

using TNodeList = std::map< CHMHMapNode::TNodeID, std::shared_ptr< CHMHMapNode > >
 A map between node IDs and nodes (used in HMT-SLAM). More...
 
using TNodeIDList = mrpt::containers::list_searchable< CHMHMapNode::TNodeID >
 
using TNodeIDSet = std::set< CHMHMapNode::TNodeID >
 
using TPairNodeIDs = std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID >
 
using TMapPoseID2Pose3D = std::map< TPoseID, mrpt::poses::CPose3D >
 
using THypothesisID = int64_t
 An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. More...
 
using TPoseID = uint64_t
 An integer number uniquely identifying each robot pose stored in HMT-SLAM. More...
 
using TPairPoseIDs = std::pair< TPoseID, TPoseID >
 
using TPoseIDList = std::vector< TPoseID >
 
using TPoseIDSet = std::set< TPoseID >
 

Typedef Documentation

◆ THypothesisID

An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.

The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree". They can be generated from CHMTSLAM::generateHypothesisID()

Definition at line 58 of file HMT_SLAM_common.h.

◆ TMapPoseID2Pose3D

Definition at line 34 of file CLocalMetricHypothesis.h.

◆ TNodeIDList

Definition at line 142 of file CHMHMapNode.h.

◆ TNodeIDSet

Definition at line 143 of file CHMHMapNode.h.

◆ TNodeList

A map between node IDs and nodes (used in HMT-SLAM).

See also
CHMTSLAM

Definition at line 141 of file CHMHMapNode.h.

◆ TPairNodeIDs

Definition at line 144 of file CHMHMapNode.h.

◆ TPairPoseIDs

using mrpt::hmtslam::TPairPoseIDs = typedef std::pair<TPoseID, TPoseID>

Definition at line 65 of file HMT_SLAM_common.h.

◆ TPoseID

An integer number uniquely identifying each robot pose stored in HMT-SLAM.

They can be generated from CHMTSLAM::generatePoseID()

Definition at line 63 of file HMT_SLAM_common.h.

◆ TPoseIDList

using mrpt::hmtslam::TPoseIDList = typedef std::vector<TPoseID>

Definition at line 67 of file HMT_SLAM_common.h.

◆ TPoseIDSet

using mrpt::hmtslam::TPoseIDSet = typedef std::set<TPoseID>

Definition at line 68 of file HMT_SLAM_common.h.




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