[mrpt-hmtslam]

Detailed Description

Back to list of all libraries | See all modules

Library mrpt-hmtslam

---

This library includes an implementation of the HMT-SLAM framework. See the list of classes in mrpt::hmtslam, and the application hmt-slam-gui.

NOTE: For new designs, it is recommended to try the [srba] library instead.

Classes
class	mrpt::hmtslam::CHierarchicalMapMHPartition
	Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHierarchicalMHMap
	The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
class	mrpt::hmtslam::CHMHMapArc
	A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMHMapNode
	A class for representing a node in a hierarchical, multi-hypothesis map. More...
class	mrpt::hmtslam::CHMTSLAM
	An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
class	mrpt::hmtslam::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	mrpt::hmtslam::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	mrpt::hmtslam::CTopLCDetector_FabMap
class	mrpt::hmtslam::CTopLCDetector_GridMatching
class	mrpt::hmtslam::CTopLCDetectorBase
	The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
class	mrpt::hmtslam::THypothesisIDSet
	A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...

Namespaces
	mrpt::hmtslam
	Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.