CHierarchicalMapMHPartition.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "hmtslam-precomp.h"  // Precomp header

#include <mrpt/hmtslam/CRobotPosesGraph.h>
#include <mrpt/opengl/CDisk.h>
#include <mrpt/opengl/CText.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/CSphere.h>
#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/system/os.h>
#include <mrpt/poses/CPose3DPDFParticles.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/random.h>
#include <mrpt/graphslam/levmarq.h>

using namespace std;
using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::random;
using namespace mrpt::hmtslam;
using namespace mrpt::system;
using namespace mrpt::serialization;
using namespace mrpt::poses;
using namespace mrpt::opengl;
using namespace mrpt::maps;
using namespace mrpt::math;

/*---------------------------------------------------------------
                        nodeCount
  ---------------------------------------------------------------*/
size_t CHierarchicalMapMHPartition::nodeCount() const { return m_nodes.size(); }
/*---------------------------------------------------------------
                        arcCount
  ---------------------------------------------------------------*/
size_t CHierarchicalMapMHPartition::arcCount() const { return m_arcs.size(); }
/*---------------------------------------------------------------
                        getNodeByID
  ---------------------------------------------------------------*/
CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID(
    CHMHMapNode::TNodeID id)
{
    MRPT_START
    if (id == AREAID_INVALID) return CHMHMapNode::Ptr();

    TNodeList::iterator it = m_nodes.find(id);
    return it == m_nodes.end() ? CHMHMapNode::Ptr() : it->second;

    MRPT_END
}
/*---------------------------------------------------------------
                        getNodeByID
  ---------------------------------------------------------------*/
const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByID(
    CHMHMapNode::TNodeID id) const
{
    MRPT_START
    if (id == AREAID_INVALID) return CHMHMapNode::Ptr();

    TNodeList::const_iterator it = m_nodes.find(id);
    return it == m_nodes.end() ? CHMHMapNode::Ptr() : it->second;

    MRPT_END
}

/*---------------------------------------------------------------
                        getNodeByLabel
  ---------------------------------------------------------------*/
CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel(
    const std::string& label, const THypothesisID& hypothesisID)
{
    MRPT_START

    // Look for the ID:
    for (TNodeList::const_iterator it = m_nodes.begin(); it != m_nodes.end();
         ++it)
        if (it->second->m_hypotheses.has(hypothesisID))
            if (!os::_strcmpi(it->second->m_label.c_str(), label.c_str()))
                return it->second;

    // Not found:
    return CHMHMapNode::Ptr();

    MRPT_END
}
/*---------------------------------------------------------------
                        getNodeByLabel
  ---------------------------------------------------------------*/
const CHMHMapNode::Ptr CHierarchicalMapMHPartition::getNodeByLabel(
    const std::string& label, const THypothesisID& hypothesisID) const
{
    MRPT_START

    // Look for the ID:
    for (TNodeList::const_iterator it = m_nodes.begin(); it != m_nodes.end();
         ++it)
        if (it->second->m_hypotheses.has(hypothesisID))
            if (!os::_strcmpi(it->second->m_label.c_str(), label.c_str()))
                return it->second;

    // Not found:
    return CHMHMapNode::Ptr();

    MRPT_END
}

/*---------------------------------------------------------------
                    getFirstNode
  ---------------------------------------------------------------*/
CHMHMapNode::Ptr CHierarchicalMapMHPartition::getFirstNode()
{
    if (m_nodes.empty())
        return CHMHMapNode::Ptr();
    else
        return (m_nodes.begin())->second;
}

/*---------------------------------------------------------------
                    saveAreasDiagramForMATLAB
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB(
    const std::string& filName, const CHMHMapNode::TNodeID& idReferenceNode,
    const THypothesisID& hypothesisID) const
{
    MRPT_UNUSED_PARAM(filName);
    MRPT_UNUSED_PARAM(idReferenceNode);
    MRPT_UNUSED_PARAM(hypothesisID);
    /*
        MRPT_START
        unsigned int    nAreaNodes=0;

        const CHMHMapNode   *refNode = getNodeByID( idReferenceNode );
        ASSERT_(refNode!=nullptr);
        ASSERT_(refNode->nodeType.isType("Area"));

        FILE    *f=os::fopen(filName.c_str(),"wt");
        if (!f) THROW_EXCEPTION("Can not open output file!");

        // The list of all the m_nodes to be plotted:
        // --------------------------------------------
        std::map<CHMHMapNode::TNodeID,CPose2D>          nodesPoses;
       // The ref. pose of each area
        std::map<CHMHMapNode::TNodeID,CPose2D>          nodesMeanPoses;
       // The mean pose of the observations in the area
        std::map<CHMHMapNode::TNodeID,CPose2D>::iterator    it;

        // First, insert the reference node:
        nodesPoses[refNode->ID] = CPose2D(0,0,0);

        // Find the rest of "Area" m_nodes:
        for (unsigned int i=0;i<nodeCount();i++)
        {
            const CHMHMapNode   *nod = getNodeByIndex(i);

            // Is this a Area node?
            if (nod->nodeType.isType("Area"))
            {
                nAreaNodes++;   // Counter
                if (nod!=refNode)
                {
                    CPosePDFParticles   posePDF;

                    computeCoordinatesTransformationBetweenNodes(
                                    refNode->ID,
                                    nod->ID,
                                    posePDF,
                                    hypothesisID,
                                    100);

                    nodesPoses[nod->ID] = posePDF.getEstimatedPose();
                }
            }
        } // end for each node "i"

        // Assure that all area m_nodes have been localized:
        ASSERT_(nAreaNodes == nodesPoses.size() );


        // Find the mean of the observations in each area:
        for (it=nodesPoses.begin();it!=nodesPoses.end();it++)
        {
            CPose3D     meanPose = it->second;
            const CHMHMapNode   *node = getNodeByID( it->first );

            CSimpleMap  *localizedSFs = (CSimpleMap*)
       node->annotations.get("localizedObservations");

            if (localizedSFs->size())
            {
                // Compute the mean pose:
                CPose3D     meanSFs(0,0,0);

                for (unsigned int k=0;k<localizedSFs->size();k++)
                {
                    CPose3DPDF          *pdf;
                    CSensoryFrame       *dummy_sf;
                    CPose3D             pdfMean;

                    localizedSFs->get(k,pdf,dummy_sf);

                    pdfMean = pdf->getEstimatedPose();
                    meanSFs.addComponents( pdfMean );
                }
                meanSFs *= 1.0f/(localizedSFs->size());
                meanSFs.normalizeAngles();

                meanPose = meanPose + meanSFs;
            }
            else
            {
                // Let the ref. pose to represent the node
            }

            nodesMeanPoses[it->first] = meanPose;
        }

        // --------------------------------------------------------------
        //  Now we have the global poses of all the m_nodes: Draw them!
        // -------------------------------------------------------------
        // Header:
        os::fprintf(f,"%%-------------------------------------------------------\n");
        os::fprintf(f,"%% File automatically generated using the MRPT
       method:\n");
        os::fprintf(f,"%%'CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB'\n");
        os::fprintf(f,"%%\n");
        os::fprintf(f,"%%                        ~ MRPT ~\n");
        os::fprintf(f,"%%  Jose Luis Blanco Claraco, University of Malaga @
       2006\n");
        os::fprintf(f,"%%  http://www.isa.uma.es/ \n");
        os::fprintf(f,"%%-------------------------------------------------------\n\n");

        os::fprintf(f,"hold on;\n");

        float   nodesRadius = 1.5f;

        // Draw the m_nodes:
        // ----------------------
        for (it = nodesMeanPoses.begin();it!=nodesMeanPoses.end();it++)
        {
            const CHMHMapNode   *node = getNodeByID( it->first );
            CPose2D     pose( it->second );

            os::fprintf(f,"\n%% Node: %s\n", node->label.c_str() );
            os::fprintf(f,"rectangle('Curvature',[1 1],'Position',[%f %f %f
       %f],'FaceColor',[1 1 1]);\n",
                            pose.x - nodesRadius,
                            pose.y - nodesRadius,
                            2*nodesRadius,
                            2*nodesRadius);

            // Draw the node's label:
            os::fprintf(f,"text(%f,%f,'%s','FontSize',7,'HorizontalAlignment','center','Interpreter','none');\n",
                            pose.x,
                            pose.y,
                            node->label.c_str() );

            // And their m_arcs:
            // ----------------------
            for (unsigned int a=0;a<node->m_arcs.size();a++)
            {
                CHMHMapArc  *arc = node->m_arcs[a];
                if (arc->nodeFrom==node->ID)
                {
                    CPose2D     poseTo(
       nodesMeanPoses.find(arc->nodeTo)->second );
                    float       x1,x2,y1,y2, Ax,Ay;

                    // Compute a unitary direction vector:
                    Ax = poseTo.x - pose.x;
                    Ay = poseTo.y - pose.y;

                    float   len = sqrt(square(Ax)+square(Ay));

                    if (len>nodesRadius)
                    {
                        Ax /= len;
                        Ay /= len;

                        x1 = pose.x + Ax * nodesRadius;
                        y1 = pose.y + Ay * nodesRadius;

                        x2 = pose.x + Ax * (len-nodesRadius);
                        y2 = pose.y + Ay * (len-nodesRadius);

                        os::fprintf(f,"line([%f %f],[%f,%f]);\n", x1,x2,y1,y2);
                    }
                }
            }
        }

        os::fprintf(f,"axis equal; zoom on;");
        os::fclose(f);
        MRPT_END
    */
}

/*---------------------------------------------------------------
                saveAreasDiagramWithEllipsedForMATLAB
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB(
    const std::string& filName, const CHMHMapNode::TNodeID& idReferenceNode,
    const THypothesisID& hypothesisID, float uncertaintyExagerationFactor,
    bool drawArcs, unsigned int numberOfIterationsForOptimalGlobalPoses) const
{
    MRPT_UNUSED_PARAM(filName);
    MRPT_UNUSED_PARAM(idReferenceNode);
    MRPT_UNUSED_PARAM(hypothesisID);
    MRPT_UNUSED_PARAM(uncertaintyExagerationFactor);
    MRPT_UNUSED_PARAM(drawArcs);
    MRPT_UNUSED_PARAM(numberOfIterationsForOptimalGlobalPoses);
    /*  MRPT_START

        const CHMHMapNode   *refNode = getNodeByID( idReferenceNode );
        ASSERT_(refNode!=nullptr);
        ASSERT_(refNode->nodeType.isType("Area"));

        FILE    *f=os::fopen(filName.c_str(),"wt");
        if (!f) THROW_EXCEPTION("Can not open output file!");

        // The list of all the m_nodes to be plotted:
        // --------------------------------------------
        std::map<CHMHMapNode::TNodeID,CPosePDFGaussian> nodesPoses;
       // The ref. pose of each area
        std::map<CHMHMapNode::TNodeID,CPosePDFGaussian>::iterator   it;
        std::map<CHMHMapNode::TNodeID,CPosePDFGaussian> nodesMeanPoses;
       // The mean pose of the observations in the area
        std::map<CHMHMapNode::TNodeID,CPose2D>::iterator    it2;

        computeGloballyConsistentNodeCoordinates( nodesPoses, idReferenceNode,
       numberOfIterationsForOptimalGlobalPoses );


        // Find the mean of the observations in each area:
        for (it=nodesPoses.begin();it!=nodesPoses.end();it++)
        {
            //CPosePDFGaussian      posePDF = it->second;
            CPose2D                 meanPose = it->second.mean;

            const CHMHMapNode           *node = getNodeByID( it->first );

            CSimpleMap  *localizedSFs = (CSimpleMap*)
       node->annotations.get("localizedObservations");

            if (localizedSFs->size())
            {
                // Compute the mean pose:
                CPose3D     meanSFs(0,0,0);

                for (unsigned int k=0;k<localizedSFs->size();k++)
                {
                    CPose3DPDF          *pdf;
                    CSensoryFrame       *dummy_sf;
                    CPose3D             pdfMean;

                    localizedSFs->get(k,pdf,dummy_sf);

                    pdfMean = pdf->getEstimatedPose();
                    meanSFs.addComponents( pdfMean );
                }
                meanSFs *= 1.0f/(localizedSFs->size());
                meanSFs.normalizeAngles();

                meanPose = meanPose + meanSFs;
            }
            else
            {
                // Let the ref. pose to represent the node
            }
            nodesMeanPoses[it->first].mean = meanPose;
            nodesMeanPoses[it->first].cov  = it->second.cov;
        }

        // --------------------------------------------------------------
        //  Now we have the global poses of all the m_nodes: Draw them!
        // -------------------------------------------------------------
        // Header:
        os::fprintf(f,"%%-------------------------------------------------------\n");
        os::fprintf(f,"%% File automatically generated using the MRPT
       method:\n");
        os::fprintf(f,"%%'CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB'\n");
        os::fprintf(f,"%%\n");
        os::fprintf(f,"%%                        ~ MRPT ~\n");
        os::fprintf(f,"%%  Jose Luis Blanco Claraco, University of Malaga @
       2006\n");
        os::fprintf(f,"%%  http://www.isa.uma.es/ \n");
        os::fprintf(f,"%%-------------------------------------------------------\n\n");

        os::fprintf(f,"hold on;\n");

        //float nodesRadius = 0; //2.0f;

        // Draw the m_nodes:
        // ----------------------
        for (it = nodesMeanPoses.begin();it!=nodesMeanPoses.end();it++)
        {
            const CHMHMapNode           *node = getNodeByID( it->first );
            CPosePDFGaussian    posePDF = it->second;
            CMatrix             C( posePDF.cov );
            CPose2D             pose( posePDF.mean );

            if (C.det()==0)
            {
                C.unit();
                C(0,0)=1e-4f;
                C(1,1)=1e-4f;
            }

            os::fprintf(f,"\n%% Node: %s\n", node->label.c_str() );
            os::fprintf(f,"c=[%e %e;%e %e];m=[%f
       %f];error_ellipse(%f*c,m,'conf',0.95);\n",
                    C(0,0), C(0,1),
                    C(1,0), C(1,1),
                    pose.x,pose.y,
                    square(uncertaintyExagerationFactor) );

            // Draw the node's label:
            os::fprintf(f,"text(%f,%f,'
       %s','FontSize',8,'HorizontalAlignment','center','Interpreter','none');\n",
                            pose.x+1.5,
                            pose.y+1.5,
                            node->label.c_str() );
        }

        // The m_arcs:
        // ----------------------
        if ( drawArcs )
        for (it = nodesMeanPoses.begin();it!=nodesMeanPoses.end();it++)
        {
            const CHMHMapNode       *node = getNodeByID( it->first );
            CPose2D             pose( it->second.mean );

            float nodesRadius = 0;
            for (unsigned int a=0;a<node->m_arcs.size();a++)
            {
                CHMHMapArc  *arc = node->m_arcs[a];
                if (arc->nodeFrom==node->ID)
                {
                    CPose2D     poseTo(
       nodesMeanPoses.find(arc->nodeTo)->second.mean );
                    float       x1,x2,y1,y2, Ax,Ay;

                    // Compute a unitary direction vector:
                    Ax = poseTo.x - pose.x;
                    Ay = poseTo.y - pose.y;

                    float   len = sqrt(square(Ax)+square(Ay));

                    if (len>nodesRadius)
                    {
                        Ax /= len;
                        Ay /= len;

                        x1 = pose.x + Ax * nodesRadius;
                        y1 = pose.y + Ay * nodesRadius;

                        x2 = pose.x + Ax * (len-nodesRadius);
                        y2 = pose.y + Ay * (len-nodesRadius);

                        os::fprintf(f,"line([%f %f],[%f,%f]);\n", x1,x2,y1,y2);
                    }
                }
            }
        }

        os::fprintf(f,"axis equal; zoom on;");

        os::fclose(f);

        // Free memory:
        nodesPoses.clear();

        MRPT_END
        */
}

/*---------------------------------------------------------------
                    saveGlobalMapForMATLAB
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::saveGlobalMapForMATLAB(
    const std::string& filName, const THypothesisID& hypothesisID,
    const CHMHMapNode::TNodeID& idReferenceNode) const
{
    MRPT_UNUSED_PARAM(filName);
    MRPT_UNUSED_PARAM(hypothesisID);
    MRPT_UNUSED_PARAM(idReferenceNode);
    MRPT_START
    /*
        unsigned int    nAreaNodes=0;

        const CHMHMapNode   *refNode = getNodeByID( idReferenceNode );
        ASSERT_(refNode!=nullptr);
        ASSERT_(refNode->nodeType.isType("Area"));

        FILE    *f=os::fopen(filName.c_str(),"wt");
        if (!f) THROW_EXCEPTION("Can not open output file!");

        // The list of all the m_nodes to be plotted:
        // --------------------------------------------
        std::map<CHMHMapNode::TNodeID,CPose2D>          nodesPoses;
    // The ref. pose of each area
        std::map<CHMHMapNode::TNodeID,CPose2D>          nodesMeanPoses;
    // The mean pose of the observations in the area
        std::map<CHMHMapNode::TNodeID,CPose2D>::iterator    it;

        // First, insert the reference node:
        nodesPoses[refNode->ID] = CPose2D(0,0,0);

        // Find the rest of "Area" m_nodes:
        for (unsigned int i=0;i<nodeCount();i++)
        {
            const CHMHMapNode   *nod = getNodeByIndex(i);

            // Is this a Area node?
            if (nod->nodeType.isType("Area"))
            {
                nAreaNodes++;   // Counter
                if (nod!=refNode)
                {
                    CPosePDFParticles   posePDF;

                    computeCoordinatesTransformationBetweenNodes(
                                    refNode->ID,
                                    nod->ID,
                                    posePDF,
                                    hypothesisID,
                                    100);

                    nodesPoses[nod->ID] = posePDF.getEstimatedPose();
                }
            }
        } // end for each node "i"

        // Assure that all area m_nodes have been localized:
        ASSERT_(nAreaNodes == nodesPoses.size() );

        // Find the mean of the observations in each area:
        for (it=nodesPoses.begin();it!=nodesPoses.end();it++)
        {
            CPose2D     meanPose = it->second;
            const CHMHMapNode   *node = getNodeByID( it->first );

            CSimpleMap  *localizedSFs = (CSimpleMap*)
    node->annotations.get("localizedObservations");

            if (localizedSFs->size())
            {
                // Compute the mean pose:
                CPose3D     meanSFs(0,0,0);

                for (unsigned int k=0;k<localizedSFs->size();k++)
                {
                    CPose3DPDF          *pdf;
                    CSensoryFrame       *dummy_sf;
                    CPose3D             pdfMean;

                    localizedSFs->get(k,pdf,dummy_sf);

                    pdfMean = pdf->getEstimatedPose();
                    meanSFs.addComponents( pdfMean );
                }
                meanSFs *= 1.0f/(localizedSFs->size());
                meanSFs.normalizeAngles();

                meanPose = meanPose + meanSFs;
            }
            else
            {
                // Let the ref. pose to represent the node
            }

            nodesMeanPoses[it->first] = meanPose;
        }

        // --------------------------------------------------------------
        //  Now we have the global poses of all the m_nodes: Draw them!
        // -------------------------------------------------------------
        // Header:
        os::fprintf(f,"%%-------------------------------------------------------\n");
        os::fprintf(f,"%% File automatically generated using the MRPT
    method:\n");
        os::fprintf(f,"%%'CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB'\n");
        os::fprintf(f,"%%\n");
        os::fprintf(f,"%%                        ~ MRPT ~\n");
        os::fprintf(f,"%%  Jose Luis Blanco Claraco, University of Malaga @
    2006\n");
        os::fprintf(f,"%%  http://www.isa.uma.es/ \n");
        os::fprintf(f,"%%-------------------------------------------------------\n\n");

        os::fprintf(f,"hold on;\n");

        float   nodesRadius = 1.5f;

        // Draw the metric maps of each area:
        for (it = nodesPoses.begin();it!=nodesPoses.end();it++)
        {
            CPose2D     meanPose = it->second;
            const CHMHMapNode   *node = getNodeByID( it->first );

            CMultiMetricMap     *metricMap = (CMultiMetricMap*)
    node->annotations.get("hybridMetricMap");
    #if defined(_DEBUG) || (MRPT_ALWAYS_CHECKS_DEBUG)
            ASSERT_(metricMap!=nullptr);
            ASSERT_(metricMap->m_pointsMap);
    #endif
            int         n;
            float       *xs,*ys,*zs;
            CPoint2D    pL,pG;

            metricMap->m_pointsMap->getPointsBuffer(n,xs,ys,zs);

            os::fprintf(f,"\n%% Metric map for node: %s\n", node->label.c_str()
    );

            if (n)
            {
                os::fprintf(f,"map=[" );
                for (int j=0;j<n;j+=10)
                {
                    if (j!=0)   os::fprintf(f,";" );
                    // Local coords:
                    pL.x = xs[j];
                    pL.y = ys[j];

                    // Global coords:
                    pG = meanPose + pL;

                    // write:
                    os::fprintf(f,"%.03f %.03f",pG.x,pG.y );
                }
                os::fprintf(f,"];\n" );
                os::fprintf(f,"plot(map(:,1),map(:,2),'.k','MarkerSize',3);\n"
    );
            }

        }


        // Draw the m_nodes:
        // ----------------------
        for (it = nodesMeanPoses.begin();it!=nodesMeanPoses.end();it++)
        {
            const CHMHMapNode   *node = getNodeByID( it->first );
            CPose2D     pose( it->second );

            os::fprintf(f,"\n%% Node: %s\n", node->label.c_str() );
            os::fprintf(f,"rectangle('Curvature',[1 1],'Position',[%f %f %f
    %f],'FaceColor',[1 1 1]);\n",
                            pose.x - nodesRadius,
                            pose.y - nodesRadius,
                            2*nodesRadius,
                            2*nodesRadius);

            // Draw the node's label:
            os::fprintf(f,"text(%f,%f,'%s','FontSize',7,'HorizontalAlignment','center','Interpreter','none');\n",
                            pose.x,
                            pose.y,
                            node->label.c_str() );

            // And their m_arcs:
            // ----------------------
            for (unsigned int a=0;a<node->m_arcs.size();a++)
            {
                CHMHMapArc  *arc = node->m_arcs[a];
                if (arc->nodeFrom==node->ID)
                {
                    CPose2D     poseTo(
    nodesMeanPoses.find(arc->nodeTo)->second );
                    float       x1,x2,y1,y2, Ax,Ay;

                    // Compute a unitary direction vector:
                    Ax = poseTo.x - pose.x;
                    Ay = poseTo.y - pose.y;

                    float   len = sqrt(square(Ax)+square(Ay));

                    if (len>nodesRadius)
                    {
                        Ax /= len;
                        Ay /= len;

                        x1 = pose.x + Ax * nodesRadius;
                        y1 = pose.y + Ay * nodesRadius;

                        x2 = pose.x + Ax * (len-nodesRadius);
                        y2 = pose.y + Ay * (len-nodesRadius);

                        os::fprintf(f,"line([%f %f],[%f,%f]);\n", x1,x2,y1,y2);
                    }

                }
            }

        }



        os::fprintf(f,"axis equal; zoom on;");

        os::fclose(f);
    */
    MRPT_END
}

// Variables:
struct TDistance
{
    TDistance() : dist(std::numeric_limits<unsigned>::max()) {}
    TDistance(const unsigned& D) : dist(D) {}
    const TDistance& operator=(const unsigned& D)
    {
        dist = D;
        return *this;
    }

    unsigned dist;
};

struct TPrevious
{
    TPrevious() : id(AREAID_INVALID) {}
    CHMHMapNode::TNodeID id;
};

/*---------------------------------------------------------------
                    findPathBetweenNodes
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::findPathBetweenNodes(
    const CHMHMapNode::TNodeID& source, const CHMHMapNode::TNodeID& target,
    const THypothesisID& hypothesisID, TArcList& ret, bool direction) const
{
    MRPT_START

    /*
    1  function Dijkstra(G, w, s)
    2     for each vertex v in V[G]                        // Initializations
    3           d[v] := infinity
    4           previous[v] := undefined
    5     d[s] := 0
    6     S := empty set
    7     Q := V[G]
    8     while Q is not an empty set                      // The algorithm
    itself
    9           u := Extract_Min(Q)
                                ------> (u=t)? -> end!
    10           S := S union {u}
    11           for each edge (u,v) outgoing from u
    12                  if d[u] + w(u,v) < d[v]             // Relax (u,v)
    13                        d[v] := d[u] + w(u,v)
    14                        previous[v] := u
    */

    map<CHMHMapNode::TNodeID, TDistance> d;  // distance
    map<CHMHMapNode::TNodeID, TPrevious> previous;
    map<CHMHMapNode::TNodeID, CHMHMapArc::Ptr> previous_arcs;
    map<CHMHMapNode::TNodeID, bool> visited;

    unsigned visitedCount = 0;

    ASSERTMSG_(
        m_nodes.find(source) != m_nodes.end(),
        format("Source node %u not found in the H-Map", (unsigned int)source));
    ASSERTMSG_(
        m_nodes.find(target) != m_nodes.end(),
        format("Target node %u not found in the H-Map", (unsigned int)target));

    ASSERT_(m_nodes.find(source)->second->m_hypotheses.has(hypothesisID));
    ASSERT_(m_nodes.find(target)->second->m_hypotheses.has(hypothesisID));

    // Init:
    // d: already initialized to infinity by default.
    // previous: idem
    // previous_arcs: idem
    // visited: idem

    d[source] = 0;

    TNodeList::const_iterator u;

    // The algorithm:
    do
    {
        // Finds the index of the minimum:
        // unsigned int i;
        unsigned min_d = std::numeric_limits<unsigned>::max();

        u = m_nodes.end();

        for (TNodeList::const_iterator i = m_nodes.begin(); i != m_nodes.end();
             ++i)
        {
            if (i->second->m_hypotheses.has(hypothesisID))
            {
                if (d[i->first].dist < min_d && !visited[i->first])
                {
                    u = i;
                    min_d = d[u->first].dist;
                }
            }
        }

        ASSERT_(u != m_nodes.end());

        visited[u->first] = true;
        visitedCount++;

        // For each arc from "u":
        const CHMHMapNode::Ptr nodeU = getNodeByID(u->first);
        TArcList arcs;
        nodeU->getArcs(arcs, hypothesisID);
        for (TArcList::const_iterator i = arcs.begin(); i != arcs.end(); ++i)
        {
            CHMHMapNode::TNodeID vID;
            if (!direction)
            {
                if ((*i)->getNodeFrom() != nodeU->getID())
                    vID = (*i)->getNodeFrom();
                else
                    vID = (*i)->getNodeTo();
            }
            else
            {
                if ((*i)->getNodeFrom() != nodeU->getID())
                    continue;
                else
                    vID = (*i)->getNodeTo();
            }

            if ((min_d + 1) < d[vID].dist)
            {
                d[vID].dist = min_d + 1;
                previous[vID].id = u->first;
                previous_arcs[vID] = *i;
            }
        }
    } while (u->first != target && visitedCount < m_nodes.size());

    // Arrived to target?
    ret.clear();

    if (u->first == target)
    {
        // Path found:
        CHMHMapNode::TNodeID nod = target;
        do
        {
            ret.push_front(previous_arcs[nod]);
            nod = previous[nod].id;
        } while (nod != source);
    }

    MRPT_END
}

/*---------------------------------------------------------------
        computeCoordinatesTransformationBetweenNodes
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes(
    const CHMHMapNode::TNodeID& nodeFrom, const CHMHMapNode::TNodeID& nodeTo,
    CPose3DPDFParticles& posePDF, const THypothesisID& hypothesisID,
    unsigned int particlesCount, float additionalNoiseXYratio,
    float additionalNoisePhiRad) const
{
    MRPT_START

    TArcList arcsPath;
    TArcList::const_iterator arcsIt;
    const TPose3D nullPose(0, 0, 0, 0, 0, 0);
    CHMHMapNode::TNodeID lastNode, nextNode;
    size_t pathLength;

    using TPose3DList = mrpt::aligned_std_vector<CPose3D>;
    std::vector<TPose3DList> listSamples;
    std::vector<TPose3DList>::iterator lstIt;
    TPose3DList dummyList;
    TPose3DList::iterator poseIt;

    // Find the shortest sequence of arcs connecting the nodes:
    findPathBetweenNodes(nodeFrom, nodeTo, hypothesisID, arcsPath);
    ASSERT_(arcsPath.size());
    pathLength = arcsPath.size();

    // Prepare the PDF:
    posePDF.resetDeterministic(nullPose, particlesCount);

    // Draw the pose sample:
    lastNode = nodeFrom;
    dummyList.resize(particlesCount);
    listSamples.resize(pathLength, dummyList);
    for (arcsIt = arcsPath.begin(), lstIt = listSamples.begin();
         arcsIt != arcsPath.end(); lstIt++, arcsIt++)
    {
        // Flag for the pose PDF needing to be reversed:
        bool reversedArc = (*arcsIt)->getNodeTo() == lastNode;
        nextNode =
            reversedArc ? (*arcsIt)->getNodeFrom() : (*arcsIt)->getNodeTo();

        // Check reference pose IDs between arcs:
        // ------------------------------------------------
        TPoseID curNodeRefPoseID, nextNodeRefPoseID;
        getNodeByID((*arcsIt)->getNodeFrom())
            ->m_annotations.getElemental(
                NODE_ANNOTATION_REF_POSEID, curNodeRefPoseID, hypothesisID,
                true);
        getNodeByID((*arcsIt)->getNodeTo())
            ->m_annotations.getElemental(
                NODE_ANNOTATION_REF_POSEID, nextNodeRefPoseID, hypothesisID,
                true);

        TPoseID srcRefPoseID, trgRefPoseID;
        (*arcsIt)->m_annotations.getElemental(
            ARC_ANNOTATION_DELTA_SRC_POSEID, srcRefPoseID, hypothesisID, true);
        (*arcsIt)->m_annotations.getElemental(
            ARC_ANNOTATION_DELTA_TRG_POSEID, trgRefPoseID, hypothesisID, true);

        ASSERT_(curNodeRefPoseID == srcRefPoseID);
        ASSERT_(nextNodeRefPoseID == trgRefPoseID);

        // Get the pose PDF:
        CSerializable::Ptr anotation =
            (*arcsIt)->m_annotations.get(ARC_ANNOTATION_DELTA, hypothesisID);
        ASSERT_(anotation);

        CPose3DPDFGaussian pdf;  // Convert to gaussian
        pdf.copyFrom(*std::dynamic_pointer_cast<CPose3DPDF>(anotation));

        vector<CVectorDouble> samples;

        pdf.drawManySamples(lstIt->size(), samples);
        ASSERT_(samples.size() == lstIt->size());
        ASSERT_(samples[0].size() == 6);

        vector<CVectorDouble>::const_iterator samplIt;
        for (poseIt = lstIt->begin(), samplIt = samples.begin();
             poseIt != lstIt->end(); poseIt++, samplIt++)
        {
            // Minimum added noise:
            poseIt->setFromValues(
                (*samplIt)[0] +
                    additionalNoiseXYratio *
                        getRandomGenerator().drawGaussian1D_normalized(),
                (*samplIt)[1] +
                    additionalNoiseXYratio *
                        getRandomGenerator().drawGaussian1D_normalized(),
                (*samplIt)[2],
                (*samplIt)[3] +
                    additionalNoisePhiRad *
                        getRandomGenerator().drawGaussian1D_normalized(),
                (*samplIt)[4], (*samplIt)[5]);

            // Pose composition:
            if (reversedArc) *poseIt = (CPose3D() - CPose3D(*poseIt));
        }

        // for the next iter:
        lastNode = nextNode;
    }

    // Compute the pose composition:
    for (unsigned int i = 0; i < particlesCount; i++)
    {
        CPose3D sample = CPose3D(posePDF.m_particles[i].d);

        for (unsigned int j = 0; j < pathLength; j++)
        {
            if (j)
                sample = sample + listSamples[j][i];
            else
                sample = listSamples[j][i];
        }
    }

    posePDF.normalizeWeights();

#if 0
    CPose3DPDFGaussian  auxPDF;
    auxPDF.copyFrom( posePDF );
    cout << "[computeCoordinatesTransformationBetweenNodes] Nodes: " << nodeFrom << " - " << nodeTo << ": " << auxPDF;
#endif

    MRPT_END
}

/*---------------------------------------------------------------
            computeMatchProbabilityBetweenNodes
  ---------------------------------------------------------------*/
float CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes(
    const CHMHMapNode::TNodeID& nodeFrom, const CHMHMapNode::TNodeID& nodeTo,
    float& maxMatchProb, CPose3DPDFSOG& estimatedRelativePose,
    const THypothesisID& hypothesisID, unsigned int monteCarloSamplesPose)
{
    MRPT_UNUSED_PARAM(nodeFrom);
    MRPT_UNUSED_PARAM(nodeTo);
    MRPT_UNUSED_PARAM(maxMatchProb);
    MRPT_UNUSED_PARAM(estimatedRelativePose);
    MRPT_UNUSED_PARAM(hypothesisID);
    MRPT_UNUSED_PARAM(monteCarloSamplesPose);
    MRPT_START
    THROW_EXCEPTION("TO DO");
    MRPT_END
}

/*---------------------------------------------------------------
                    findArcsBetweenNodes
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::findArcsBetweenNodes(
    const CHMHMapNode::TNodeID& node1id, const CHMHMapNode::TNodeID& node2id,
    const THypothesisID& hypothesisID, TArcList& ret) const
{
    MRPT_START

    ret.clear();
    const CHMHMapNode::Ptr node1 = getNodeByID(node1id);

    TArcList lstArcs;
    TArcList::const_iterator itArc;

    node1->getArcs(lstArcs);
    for (itArc = lstArcs.begin(); itArc != lstArcs.end(); itArc++)
    {
        if ((*itArc)->m_hypotheses.has(hypothesisID))
            if ((*itArc)->m_nodeFrom == node2id ||
                (*itArc)->m_nodeTo == node2id)
            {
                ret.push_back(*itArc);
            }
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    findArcsOfTypeBetweenNodes
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes(
    const CHMHMapNode::TNodeID& node1id, const CHMHMapNode::TNodeID& node2id,
    const THypothesisID& hypothesisID, const std::string& arcType,
    TArcList& ret) const
{
    MRPT_START

    ret.clear();
    const CHMHMapNode::Ptr node1 = getNodeByID(node1id);

    TArcList lstArcs;
    TArcList::const_iterator itArc;

    node1->getArcs(lstArcs);
    for (itArc = lstArcs.begin(); itArc != lstArcs.end(); itArc++)
    {
        if ((*itArc)->m_hypotheses.has(hypothesisID))
            if ((*itArc)->m_nodeFrom == node2id ||
                (*itArc)->m_nodeTo == node2id)
            {
                if ((*itArc)->m_arcType == arcType) ret.push_back(*itArc);
            }
    }

    MRPT_END
}

/*---------------------------------------------------------------
                    areNodesNeightbour
  ---------------------------------------------------------------*/
bool CHierarchicalMapMHPartition::areNodesNeightbour(
    const CHMHMapNode::TNodeID& node1id, const CHMHMapNode::TNodeID& node2id,
    const THypothesisID& hypothesisID, const char* requiredAnnotation) const
{
    MRPT_START

    const CHMHMapNode::Ptr node1 = getNodeByID(node1id);

    TArcList lstArcs;
    TArcList::const_iterator itArc;

    node1->getArcs(lstArcs);
    for (itArc = lstArcs.begin(); itArc != lstArcs.end(); itArc++)
    {
        if ((*itArc)->m_hypotheses.has(hypothesisID))
            if ((*itArc)->m_nodeFrom == node2id ||
                (*itArc)->m_nodeTo == node2id)
            {
                if (!requiredAnnotation)
                    return true;
                else if ((*itArc)->m_annotations.get(
                             requiredAnnotation, hypothesisID))
                    return true;
            }
    }

    return false;

    MRPT_END
}

/*---------------------------------------------------------------
                        getAs3DScene
  ---------------------------------------------------------------*/

void CHierarchicalMapMHPartition::getAs3DScene(
    COpenGLScene& outScene, const CHMHMapNode::TNodeID& idReferenceNode,
    const THypothesisID& hypothesisID,
    const unsigned int& numberOfIterationsForOptimalGlobalPoses,
    const bool& showRobotPoseIDs) const
{
    MRPT_START

    // First: Clear and add the cool "ground grid" :-P
    outScene.clear();
    {
        mrpt::opengl::CGridPlaneXY::Ptr obj =
            mrpt::make_aligned_shared<mrpt::opengl::CGridPlaneXY>(
                -500, 500, -500, 500, 0, 5);
        obj->setColor(0.3, 0.3, 0.3);
        outScene.insert(obj);
    }

    using TMapID2PosePDF = std::map<
        CHMHMapNode::TNodeID, CPose3DPDFGaussian,
        std::less<CHMHMapNode::TNodeID>,
        Eigen::aligned_allocator<
            std::pair<const CHMHMapNode::TNodeID, CPose3DPDFGaussian>>>;
    TMapID2PosePDF nodesPoses;  // The ref. pose of each area
    TMapID2PosePDF::iterator it;

    using TMapID2Pose2D = std::map<
        CHMHMapNode::TNodeID, CPose2D, std::less<CHMHMapNode::TNodeID>,
        Eigen::aligned_allocator<
            std::pair<const CHMHMapNode::TNodeID, CPose2D>>>;
    TMapID2Pose2D
        nodesMeanPoses;  // The mean pose of the observations in the area
    TMapID2Pose2D::iterator it2;

    // Only those nodes in the "hypothesisID" are computed.
    computeGloballyConsistentNodeCoordinates(
        nodesPoses, idReferenceNode, hypothesisID,
        numberOfIterationsForOptimalGlobalPoses);

    // Find the mean of the observations in each area:
    for (it = nodesPoses.begin(); it != nodesPoses.end(); it++)
    {
        CPose2D meanPose = CPose2D(it->second.mean);
        const CHMHMapNode::Ptr node = getNodeByID(it->first);

        CRobotPosesGraph::Ptr posesGraph =
            node->m_annotations.getAs<CRobotPosesGraph>(
                NODE_ANNOTATION_POSES_GRAPH, hypothesisID);

        if (posesGraph && posesGraph->size())
        {
            // Compute the mean pose:
            CPose3D meanSFs(0, 0, 0);

            for (CRobotPosesGraph::const_iterator it = posesGraph->begin();
                 it != posesGraph->end(); ++it)
                meanSFs.addComponents(it->second.pdf.getMeanVal());

            meanSFs *= 1.0f / (posesGraph->size());
            meanSFs.normalizeAngles();

            meanPose = meanPose + CPose2D(meanSFs);
        }
        else
        {
            // Let the ref. pose to represent the node
        }

        nodesMeanPoses[it->first] = meanPose;
    }

    // ----------------------------------------------------------------
    //  Now we have the global poses of all the m_nodes: Draw'em all
    // ---------------------------------------------------------------
    // Draw the (grid maps) metric maps of each area:
    for (it = nodesPoses.begin(); it != nodesPoses.end(); it++)
    {
        const CPose3D& pose = it->second.mean;
        const CHMHMapNode::Ptr node = getNodeByID(it->first);

        CMultiMetricMap::Ptr metricMap =
            node->m_annotations.getAs<CMultiMetricMap>(
                NODE_ANNOTATION_METRIC_MAPS, hypothesisID);
        if (metricMap)  // ASSERT_(metricMap);
        {
            mrpt::opengl::CSetOfObjects::Ptr objTex =
                mrpt::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
            metricMap->getAs3DObject(objTex);
            objTex->setPose(pose);
            outScene.insert(objTex);
        }
    }

    float nodes_height = 10.0f;
    float nodes_radius = 1.0f;

    // Draw the m_nodes:
    // ----------------------
    for (it = nodesPoses.begin(), it2 = nodesMeanPoses.begin();
         it != nodesPoses.end(); it++, it2++)
    {
        const CHMHMapNode::Ptr node = getNodeByID(it->first);
        const CPose3D& pose = it->second.mean;
        const CPose3D meanPose = CPose3D(it2->second);

        // The sphere of the node:
        mrpt::opengl::CSphere::Ptr objSphere =
            mrpt::make_aligned_shared<mrpt::opengl::CSphere>();

        objSphere->setName(node->m_label);
        objSphere->setColor(0, 0, 1);
        objSphere->setLocation(
            meanPose.x(), meanPose.y(), meanPose.z() + nodes_height);
        objSphere->setRadius(nodes_radius);
        objSphere->setNumberDivsLongitude(16);
        objSphere->setNumberDivsLatitude(16);

        objSphere->enableRadiusIndependentOfEyeDistance();

        outScene.insert(objSphere);

        // The label with the name of the node:
        mrpt::opengl::CText::Ptr objText =
            mrpt::make_aligned_shared<mrpt::opengl::CText>();
        //  objText->m_str = node->m_label;
        objText->setString(format("%li", (long int)node->getID()));
        // objText->m_fontHeight = 20;
        objText->setColor(1, 0, 0);
        objText->setLocation(
            meanPose.x(), meanPose.y(), meanPose.z() + nodes_height);

        outScene.insert(objText);

        // And the observations "on the ground" as disks
        // ---------------------------------------------------
        CRobotPosesGraph::Ptr posesGraph =
            node->m_annotations.getAs<CRobotPosesGraph>(
                NODE_ANNOTATION_POSES_GRAPH, hypothesisID);
        // ASSERT_(posesGraph);

        if (posesGraph)
        {
            for (CRobotPosesGraph::const_iterator it = posesGraph->begin();
                 it != posesGraph->end(); ++it)
            {
                CPose3D SF_pose;
                it->second.pdf.getMean(SF_pose);

                CPose3D auxPose(pose + SF_pose);

                mrpt::opengl::CDisk::Ptr glObj =
                    mrpt::make_aligned_shared<mrpt::opengl::CDisk>();

                glObj->setColor(1, 0, 0);

                glObj->setPose(auxPose);
                // glObj->m_z = 0;

                glObj->setDiskRadius(0.05f);
                glObj->setSlicesCount(20);
                glObj->setLoopsCount(10);

                if (showRobotPoseIDs)
                {
                    glObj->setName(format("%i", (int)it->first));
                    glObj->enableShowName();
                }

                outScene.insert(glObj);

                // And a line up-to the node:
                mrpt::opengl::CSimpleLine::Ptr objLine =
                    mrpt::make_aligned_shared<mrpt::opengl::CSimpleLine>();

                objLine->setColor(1, 0, 0, 0.2);
                objLine->setLineWidth(1.5);

                objLine->setLineCoords(
                    meanPose.x(), meanPose.y(), nodes_height, auxPose.x(),
                    auxPose.y(), 0);

                outScene.insert(objLine);
            }  // end for observation "disks"
        }

        // And their m_arcs:
        // ----------------------
        TArcList arcs;
        node->getArcs(arcs, hypothesisID);
        for (TArcList::const_iterator a = arcs.begin(); a != arcs.end(); ++a)
        {
            CHMHMapArc::Ptr arc = *a;

            if (arc->getNodeFrom() == node->getID())
            {
                CPose3D poseTo(nodesMeanPoses.find(arc->getNodeTo())->second);

                // Draw the line:
                mrpt::opengl::CSimpleLine::Ptr objLine =
                    mrpt::make_aligned_shared<mrpt::opengl::CSimpleLine>();

                objLine->setColor(0, 1, 0, 0.5);
                objLine->setLineWidth(5);

                objLine->setLineCoords(
                    meanPose.x(), meanPose.y(), meanPose.z() + nodes_height,
                    poseTo.x(), poseTo.y(), poseTo.z() + nodes_height);

                outScene.insert(objLine);
            }
        }
    }

    MRPT_END
}

/*---------------------------------------------------------------
            computeGloballyConsistentNodeCoordinates
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(
    std::map<
        CHMHMapNode::TNodeID, CPose3DPDFGaussian,
        std::less<CHMHMapNode::TNodeID>,
        Eigen::aligned_allocator<std::pair<
            const CHMHMapNode::TNodeID, CPose3DPDFGaussian>>>& nodePoses,
    const CHMHMapNode::TNodeID& idReferenceNode,
    const THypothesisID& hypothesisID,
    const unsigned int& numberOfIterations) const
{
    MRPT_START

    nodePoses.clear();

    if (m_arcs.empty()) return;  // Nothing we can do!

    // 1) Convert hmt-slam graph into graphslam graph... (this should be avoided
    // in future version of HTML-SLAM!!)
    graphs::CNetworkOfPoses3DInf pose_graph;

    for (TArcList::const_iterator it_arc = m_arcs.begin();
         it_arc != m_arcs.end(); ++it_arc)
    {
        if (!(*it_arc)->m_hypotheses.has(hypothesisID)) continue;

        const CHMHMapNode::TNodeID id_from = (*it_arc)->getNodeFrom();
        const CHMHMapNode::TNodeID id_to = (*it_arc)->getNodeTo();

        CSerializable::Ptr anotation =
            (*it_arc)->m_annotations.get(ARC_ANNOTATION_DELTA, hypothesisID);
        if (!anotation) continue;

        CPose3DPDFGaussianInf edge_rel_pose_pdf;  // Convert to gaussian
        edge_rel_pose_pdf.copyFrom(
            *std::dynamic_pointer_cast<CPose3DPDF>(anotation));

        pose_graph.insertEdgeAtEnd(id_from, id_to, edge_rel_pose_pdf);
    }

    // 2) Initialize global poses of nodes with Dijkstra:
    pose_graph.root = idReferenceNode;
    pose_graph.dijkstra_nodes_estimate();

    // 3) Optimize with graph-slam:
    graphslam::TResultInfoSpaLevMarq out_info;
    TParametersDouble graphslam_params;
    graphslam_params["max_iterations"] = numberOfIterations;

    graphslam::optimize_graph_spa_levmarq(
        pose_graph, out_info,
        nullptr,  // Optimize all nodes
        graphslam_params);

    // 4) Copy back optimized results into the HMT-SLAM graph:
    for (graphs::CNetworkOfPoses3DInf::global_poses_t::const_iterator it_node =
             pose_graph.nodes.begin();
         it_node != pose_graph.nodes.end(); ++it_node)
    {
        const CHMHMapNode::TNodeID node_id = it_node->first;

        // To the output map:
        CPose3DPDFGaussian& new_pose = nodePoses[node_id];
        new_pose.mean = it_node->second;
        new_pose.cov.setIdentity();  // *** At present, graphslam does not
        // output the uncertainty of poses... ***
    }

#if __computeGloballyConsistentNodeCoordinates__VERBOSE
    for (map<CHMHMapNode::TNodeID, CPose3DPDFGaussian>::const_iterator it =
             nodePoses.begin();
         it != nodePoses.end(); ++it)
        cout << it->first << ": " << it->second.mean << endl;
    cout << endl;
#endif

    MRPT_END
}

/*---------------------------------------------------------------
                dumpAsText
  ---------------------------------------------------------------*/
void CHierarchicalMapMHPartition::dumpAsText(std::vector<std::string>& st) const
{
    st.clear();
    st.push_back("LIST OF NODES");
    st.push_back("================");

    for (TNodeList::const_iterator it = m_nodes.begin(); it != m_nodes.end();
         ++it)
    {
        std::string s;
        s += format(
            "NODE ID: %i\t LABEL:%s\tARCS: ", (int)it->second->getID(),
            it->second->m_label.c_str());
        TArcList arcs;
        it->second->getArcs(arcs);
        for (TArcList::const_iterator a = arcs.begin(); a != arcs.end(); ++a)
            s += format(
                "%i-%i, ", (int)(*a)->getNodeFrom(), (int)(*a)->getNodeTo());

        st.push_back(s);

        for (CMHPropertiesValuesList::const_iterator ann =
                 it->second->m_annotations.begin();
             ann != it->second->m_annotations.end(); ++ann)
        {
            s = format(
                "   [HYPO ID #%02i] Annotation '%s' Class: ", (int)ann->ID,
                ann->name.c_str());
            if (ann->value)
                s += string(ann->value->GetRuntimeClass()->className);
            else
                s += "(nullptr)";

            st.push_back(s);

            if (ann->name == NODE_ANNOTATION_REF_POSEID)
            {
                TPoseID refID;
                it->second->m_annotations.getElemental(
                    NODE_ANNOTATION_REF_POSEID, refID, ann->ID);
                st.push_back(format("     VALUE: %i", (int)refID));
            }
            else if (ann->name == NODE_ANNOTATION_POSES_GRAPH)
            {
                CRobotPosesGraph::Ptr posesGraph =
                    it->second->m_annotations.getAs<CRobotPosesGraph>(
                        NODE_ANNOTATION_POSES_GRAPH, ann->ID);
                ASSERT_(posesGraph);

                st.push_back(format(
                    "     CRobotPosesGraph has %i poses:",
                    (int)posesGraph->size()));
                CPose3D pdfMean;
                for (CRobotPosesGraph::const_iterator p = posesGraph->begin();
                     p != posesGraph->end(); ++p)
                {
                    const CPose3DPDFParticles& pdf = p->second.pdf;
                    pdf.getMean(pdfMean);
                    st.push_back(format(
                        "       Pose %i \t (%.03f,%.03f,%.03fdeg)",
                        (int)p->first, pdfMean.x(), pdfMean.y(),
                        RAD2DEG(pdfMean.yaw())));
                }
            }
        }

        st.push_back("");
    }

    st.push_back("");
    st.push_back("");
    st.push_back("LIST OF ARCS");
    st.push_back("================");

    for (TArcList::const_iterator it = m_arcs.begin(); it != m_arcs.end(); ++it)
    {
        std::string s;
        s += format(
            "ARC: %i -> %i\n", (int)(*it)->getNodeFrom(),
            (int)(*it)->getNodeTo());

        s += string("   Arc type: ") + (*it)->m_arcType;

        st.push_back(s);

        for (CMHPropertiesValuesList::const_iterator ann =
                 (*it)->m_annotations.begin();
             ann != (*it)->m_annotations.end(); ++ann)
        {
            s = format(
                "   [HYPO ID #%02i] Annotation '%s' Class: ", (int)ann->ID,
                ann->name.c_str());
            if (ann->value)
                s += string(ann->value->GetRuntimeClass()->className);
            else
                s += "(nullptr)";

            st.push_back(s);

            if (ann->name == ARC_ANNOTATION_DELTA_SRC_POSEID)
            {
                TPoseID refID;
                (*it)->m_annotations.getElemental(
                    ARC_ANNOTATION_DELTA_SRC_POSEID, refID, ann->ID);
                st.push_back(format("     VALUE: %i", (int)refID));
            }
            else if (ann->name == ARC_ANNOTATION_DELTA_TRG_POSEID)
            {
                TPoseID refID;
                (*it)->m_annotations.getElemental(
                    ARC_ANNOTATION_DELTA_TRG_POSEID, refID, ann->ID);
                st.push_back(format("     VALUE: %i", (int)refID));
            }
            else if (ann->name == ARC_ANNOTATION_DELTA)
            {
                CSerializable::Ptr o =
                    (*it)->m_annotations.get(ARC_ANNOTATION_DELTA, ann->ID);
                ASSERT_(o);

                CPose3DPDFGaussian relativePoseAcordToArc;
                relativePoseAcordToArc.copyFrom(
                    *std::dynamic_pointer_cast<CPose3DPDF>(o));

                st.push_back(format(
                    "     VALUE: (%f,%f,%f , %fdeg,%fdeg,%fdeg)",
                    relativePoseAcordToArc.mean.x(),
                    relativePoseAcordToArc.mean.y(),
                    relativePoseAcordToArc.mean.z(),
                    RAD2DEG(relativePoseAcordToArc.mean.yaw()),
                    RAD2DEG(relativePoseAcordToArc.mean.pitch()),
                    RAD2DEG(relativePoseAcordToArc.mean.roll())));
            }
        }

        st.push_back("");
    }
}

/*---------------------------------------------------------------
                    findArcOfTypeBetweenNodes
  ---------------------------------------------------------------*/
CHMHMapArc::Ptr CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes(
    const CHMHMapNode::TNodeID& node1id, const CHMHMapNode::TNodeID& node2id,
    const THypothesisID& hypothesisID, const std::string& arcType,
    bool& isInverted) const
{
    MRPT_START

    TArcList lstArcs;
    findArcsOfTypeBetweenNodes(
        node1id, node2id, hypothesisID, arcType, lstArcs);

    for (TArcList::const_iterator a = lstArcs.begin(); a != lstArcs.end(); ++a)
    {
        if ((*a)->getNodeFrom() == node1id)
        {
            // Found, and in the correct direction:
            isInverted = false;
            return *a;
        }
        else
        {
            // Found, in the opossite direction:
            isInverted = true;
            return *a;
        }
    }

    return CHMHMapArc::Ptr();
    MRPT_END
}

/*---------------------------------------------------------------
            computeOverlapProbabilityBetweenNodes
  ---------------------------------------------------------------*/
double CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes(
    const CHMHMapNode::TNodeID& nodeFrom, const CHMHMapNode::TNodeID& nodeTo,
    const THypothesisID& hypothesisID, const size_t& monteCarloSamples,
    const float margin_to_substract) const
{
    MRPT_START

    size_t i, hits = 0;
    CPose3DPDFParticles posePDF;
    const CHMHMapNode::Ptr from = getNodeByID(nodeFrom);
    const CHMHMapNode::Ptr to = getNodeByID(nodeTo);

    // Draw pose samples:
    computeCoordinatesTransformationBetweenNodes(
        nodeFrom, nodeTo, posePDF, hypothesisID, monteCarloSamples);
    /*0.15f,
    DEG2RAD(3.0f) );*/

    // Get the extends of grid maps:
    float r1_x_min, r1_x_max, r1_y_min, r1_y_max, r2_x_min, r2_x_max, r2_y_min,
        r2_y_max;

    // MAP1:
    CMultiMetricMap::Ptr hMap1 = from->m_annotations.getAs<CMultiMetricMap>(
        NODE_ANNOTATION_METRIC_MAPS, hypothesisID, false);

    ASSERT_(hMap1->m_gridMaps.size() > 0);

    r1_x_min = hMap1->m_gridMaps[0]->getXMin();
    r1_x_max = hMap1->m_gridMaps[0]->getXMax();
    r1_y_min = hMap1->m_gridMaps[0]->getYMin();
    r1_y_max = hMap1->m_gridMaps[0]->getYMax();

    if (r1_x_max - r1_x_min > 2 * margin_to_substract)
    {
        r1_x_max -= margin_to_substract;
        r1_x_min += margin_to_substract;
    }
    if (r1_y_max - r1_y_min > 2 * margin_to_substract)
    {
        r1_y_max -= margin_to_substract;
        r1_y_min += margin_to_substract;
    }

    // MAP2:
    CMultiMetricMap::Ptr hMap2 = to->m_annotations.getAs<CMultiMetricMap>(
        NODE_ANNOTATION_METRIC_MAPS, hypothesisID, false);

    ASSERT_(hMap2->m_gridMaps.size() > 0);

    r2_x_min = hMap2->m_gridMaps[0]->getXMin();
    r2_x_max = hMap2->m_gridMaps[0]->getXMax();
    r2_y_min = hMap2->m_gridMaps[0]->getYMin();
    r2_y_max = hMap2->m_gridMaps[0]->getYMax();

    if (r2_x_max - r2_x_min > 2 * margin_to_substract)
    {
        r2_x_max -= margin_to_substract;
        r2_x_min += margin_to_substract;
    }
    if (r2_y_max - r2_y_min > 2 * margin_to_substract)
    {
        r2_y_max -= margin_to_substract;
        r2_y_min += margin_to_substract;
    }

    // Compute the probability:
    for (i = 0; i < monteCarloSamples; i++)
    {
        if (math::RectanglesIntersection(
                r1_x_min, r1_x_max, r1_y_min, r1_y_max, r2_x_min, r2_x_max,
                r2_y_min, r2_y_max, posePDF.m_particles[i].d.x,
                posePDF.m_particles[i].d.y, posePDF.m_particles[i].d.yaw))
        {
            hits++;
        }
    }

    return static_cast<double>(hits) / monteCarloSamples;

    MRPT_END
}