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9 #ifndef HMT_SLAM_common_H
10 #define HMT_SLAM_common_H
16 #define COMMON_TOPOLOG_HYP static_cast<THypothesisID>(0)
18 #define NODE_ANNOTATION_METRIC_MAPS "metricMaps" // CMultiMetricMap
19 #define NODE_ANNOTATION_REF_POSEID "refPoseID" // TPoseID
20 #define NODE_ANNOTATION_POSES_GRAPH "posesGraph" // CRobotPosesGraph
22 #define NODE_ANNOTATION_PLACE_POSE "placePose" // mrpt::poses::CPoint2D
24 #define ARC_ANNOTATION_DELTA \
25 "Delta" // CPose3DPDF (for the current implementation, it's a
27 #define ARC_ANNOTATION_DELTA_SRC_POSEID \
28 "Delta_poseID_src" // TPoseID (elemental datatype)
29 #define ARC_ANNOTATION_DELTA_TRG_POSEID \
30 "Delta_poseID_trg" // TPoseID (elemental datatype)
33 #define ARC_TYPES "Membership,Navegability,RelativePose,Location"
34 #define DEFAULT_ARC_TYPE "Membership"
37 #define NODE_TYPES "Place,Area,TopologicalMap,Object"
38 #define DEFAULT_NODE_TYPE "Place"
41 #define POSEID_INVALID static_cast<TPoseID>(-1)
43 #define AREAID_INVALID static_cast<uint64_t>(-1)
45 #define MSG_SOURCE_LSLAM 1
46 #define MSG_SOURCE_AA 2
79 public std::set<THypothesisID>
107 std::shared_ptr<mrpt::hmtslam::CHMHMapArc>>
111 std::shared_ptr<mrpt::hmtslam::CHMHMapArc>>;
THypothesisIDSet(const THypothesisID &val)
Constructor with one initial element.
void write(mrpt::serialization::CArchive &out) const
void read(mrpt::serialization::CArchive &in)
const_iterator find(const KEY &key) const
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
virtual ~THypothesisIDSet()
bool has(const THypothesisID &val) const
Returns true if the hypothesis is into the set.
#define COMMON_TOPOLOG_HYP
void debugDump() const
Dump to console.
unsigned __int64 uint64_t
std::set< TPoseID > TPoseIDSet
The virtual base class which provides a unified interface for all persistent objects in MRPT.
std::pair< TPoseID, TPoseID > TPairPoseIDs
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
A class for storing a sequence of arcs (a path).
THypothesisIDSet()
Default constructor.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
This class implements a STL container with features of both, a std::set and a std::list.
std::vector< TPoseID > TPoseIDList
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