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71 void onArcAddition(CHMHMapArcPtr &arc);
87 static CHMHMapNodePtr Create(
117 unsigned int getLevelInTheHierarchy();
121 unsigned int getRelatedArcsCount();
TNodeID m_ID
An unique identifier for the node: it is randomly generated at construction or read from stream when ...
THypothesisIDSet m_hypotheses
The hypothesis IDs under which this node exists.
utils::CTypeSelector m_nodeType
The type of the node, the possibilities are:
An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable ...
A class for representing a node in a hierarchical, multi-hypothesis map.
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::set< CHMHMapNode::TNodeID > TNodeIDSet
mrpt::utils::safe_ptr< CHierarchicalMHMap > m_parent
The hierarchical graph in which this object is into.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID > TPairNodeIDs
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
uint64_t TNodeID
The type for node IDs in graphs of different types.
This class represents a std::string derived class which is also CSerializable.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class for storing a sequence of arcs (a path).
std::map< CHMHMapNode::TNodeID, CHMHMapNodePtr > TNodeList
A map between node IDs and nodes (used in HMT-SLAM).
TArcList m_arcs
The list of all arcs from/to this node:
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A wrapper class for pointers that can be safely copied with "=" operator without problems.
class HMTSLAM_IMPEXP CHMHMapNode
std::string m_label
The label of the node, only for display it to the user.
class HMTSLAM_IMPEXP CHierarchicalMHMap
mrpt::utils::TNodeID TNodeID
The type of the IDs of nodes.
utils::CMHPropertiesValuesList m_annotations
The annotations of the node, see the general description of the class for possible properties and val...
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
void getArcs(TArcList &out) const
Returns a list with the arcs from/to this node.
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