A class for representing a node in a hierarchical, multi-hypothesis map.
The node itself will be considered only if some given hypothesisID matchs its own ID.
Definition at line 37 of file CHMHMapNode.h.
#include <mrpt/hmtslam/CHMHMapNode.h>
Public Types | |
typedef mrpt::utils::TNodeID | TNodeID |
The type of the IDs of nodes. | |
Public Member Functions | |
virtual | ~CHMHMapNode () |
Destructor. | |
TNodeID | getID () const |
Reads the ID of the node (read-only property) | |
unsigned int | getLevelInTheHierarchy () |
Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc. | |
unsigned int | getRelatedArcsCount () |
Returns the number of arcs starting from/ending into this node. | |
void | getArcs (TArcList &out) const |
Returns a list with the arcs from/to this node. | |
void | getArcs (TArcList &out, const THypothesisID &hyp_id) const |
Returns a list with the arcs from/to this node existing in a given hypothesis ID. | |
void | getArcs (TArcList &out, const char *arcType, const THypothesisID &hyp_id) const |
Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type. | |
bool | isNeighbor (const TNodeID &otherArea, const THypothesisID &hyp_id) const |
Check whether an arc exists towards the given area. | |
Static Public Member Functions | |
static CHMHMapNodePtr | Create (CHierarchicalMHMap *parent=NULL, const THypothesisIDSet &hyps=THypothesisIDSet()) |
Class factory. | |
Public Attributes | |
THypothesisIDSet | m_hypotheses |
The hypothesis IDs under which this node exists. | |
utils::CMHPropertiesValuesList | m_annotations |
The annotations of the node, see the general description of the class for possible properties and values. | |
utils::CTypeSelector | m_nodeType |
The type of the node, the possibilities are: | |
std::string | m_label |
The label of the node, only for display it to the user. | |
Protected Member Functions | |
void | onArcDestruction (CHMHMapArc *arc) |
Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects. | |
void | onArcAddition (CHMHMapArcPtr &arc) |
Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects. | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Protected Attributes | |
TNodeID | m_ID |
An unique identifier for the node: it is randomly generated at construction or read from stream when loaded. | |
TArcList | m_arcs |
The list of all arcs from/to this node: | |
mrpt::utils::safe_ptr< CHierarchicalMHMap > | m_parent |
The hierarchical graph in which this object is into. | |
Private Member Functions | |
CHMHMapNode (CHierarchicalMHMap *parent=NULL, const THypothesisIDSet &hyps=THypothesisIDSet()) | |
Private constructor (see Create class factory) | |
Friends | |
class HMTSLAM_IMPEXP | CHierarchicalMHMap |
class HMTSLAM_IMPEXP | CHierarchicalMHMapPartition |
class HMTSLAM_IMPEXP | CHMHMapArc |
RTTI stuff <br> | |
typedef CHMHMapNodePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CHMHMapNode |
static mrpt::utils::TRuntimeClassId | classCHMHMapNode |
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 CHMHMapNodePtr | Create () |
A typedef for the associated smart pointer
Definition at line 44 of file CHMHMapNode.h.
The type of the IDs of nodes.
Definition at line 49 of file CHMHMapNode.h.
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Private constructor (see Create class factory)
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Destructor.
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Class factory.
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Returns a list with the arcs from/to this node.
Definition at line 125 of file CHMHMapNode.h.
void mrpt::hmtslam::CHMHMapNode::getArcs | ( | TArcList & | out, |
const char * | arcType, | ||
const THypothesisID & | hyp_id | ||
) | const |
Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.
void mrpt::hmtslam::CHMHMapNode::getArcs | ( | TArcList & | out, |
const THypothesisID & | hyp_id | ||
) | const |
Returns a list with the arcs from/to this node existing in a given hypothesis ID.
TNodeID mrpt::hmtslam::CHMHMapNode::getID | ( | ) | const |
Reads the ID of the node (read-only property)
unsigned int mrpt::hmtslam::CHMHMapNode::getLevelInTheHierarchy | ( | ) |
Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.
unsigned int mrpt::hmtslam::CHMHMapNode::getRelatedArcsCount | ( | ) |
Returns the number of arcs starting from/ending into this node.
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bool mrpt::hmtslam::CHMHMapNode::isNeighbor | ( | const TNodeID & | otherArea, |
const THypothesisID & | hyp_id | ||
) | const |
Check whether an arc exists towards the given area.
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Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.
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Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.
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Definition at line 39 of file CHMHMapNode.h.
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Definition at line 40 of file CHMHMapNode.h.
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Definition at line 41 of file CHMHMapNode.h.
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Definition at line 44 of file CHMHMapNode.h.
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Definition at line 44 of file CHMHMapNode.h.
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Definition at line 44 of file CHMHMapNode.h.
utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapNode::m_annotations |
The annotations of the node, see the general description of the class for possible properties and values.
Definition at line 97 of file CHMHMapNode.h.
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The list of all arcs from/to this node:
Definition at line 62 of file CHMHMapNode.h.
THypothesisIDSet mrpt::hmtslam::CHMHMapNode::m_hypotheses |
The hypothesis IDs under which this node exists.
Definition at line 53 of file CHMHMapNode.h.
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An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.
Definition at line 58 of file CHMHMapNode.h.
std::string mrpt::hmtslam::CHMHMapNode::m_label |
The label of the node, only for display it to the user.
Definition at line 113 of file CHMHMapNode.h.
utils::CTypeSelector mrpt::hmtslam::CHMHMapNode::m_nodeType |
The type of the node, the possibilities are:
Definition at line 105 of file CHMHMapNode.h.
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The hierarchical graph in which this object is into.
Definition at line 75 of file CHMHMapNode.h.
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