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.
Definition at line 37 of file CRobotPosesGraph.h.
#include <mrpt/hmtslam/CRobotPosesGraph.h>
Public Member Functions | |
void | insertIntoMetricMap (mrpt::maps::CMultiMetricMap &metricMap) const |
Insert all the observations in the map (without erasing previous contents). | |
void | convertIntoSimplemap (mrpt::maps::CSimpleMap &out_simplemap) const |
Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object. | |
Public Attributes | |
K | keys |
STL member. | |
T | elements |
STL member. | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CRobotPosesGraphPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CRobotPosesGraph |
static mrpt::utils::TRuntimeClassId | classCRobotPosesGraph |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CRobotPosesGraphPtr | Create () |
A typedef for the associated smart pointer
Definition at line 40 of file CRobotPosesGraph.h.
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staticprotected |
void mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap | ( | mrpt::maps::CSimpleMap & | out_simplemap | ) | const |
Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.
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void mrpt::hmtslam::CRobotPosesGraph::insertIntoMetricMap | ( | mrpt::maps::CMultiMetricMap & | metricMap | ) | const |
Insert all the observations in the map (without erasing previous contents).
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protected |
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Definition at line 40 of file CRobotPosesGraph.h.
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Definition at line 40 of file CRobotPosesGraph.h.
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Definition at line 40 of file CRobotPosesGraph.h.
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inherited |
STL member.
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inherited |
STL member.
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