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mrpt::hmtslam::CHMHMapArc Class Reference


Detailed Description

A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.

The arc itself will be considered only if some given hypothesisID matchs its own ID.

Note:
Create objects by invoking the class factory "::Create"
See also:
CHierarchicalMHMap,CHMHMapNode

Definition at line 50 of file CHMHMapArc.h.

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual ~CHMHMapArc ()
 Destructor.
CHMHMapNode::TNodeID getNodeFrom () const
 Return the starting node of the arc:
CHMHMapNode::TNodeID getNodeTo () const
 Return the ending node of the arc:

Static Public Member Functions

static CHMHMapArcPtr Create (const CHMHMapNode::TNodeID &from, const CHMHMapNode::TNodeID &to, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
 Constructor from node IDs.
static CHMHMapArcPtr Create (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
 Alternative constructor, using pointers for convenience.

Public Attributes

THypothesisIDSet m_hypotheses
 The hypothesis IDs under which this arc exists.
utils::CTypeSelector m_arcType
 The type of the arc, the possibilities are:

  • "Membership": for abstractions
  • "Navegability"
  • "RelativePose".

utils::CMHPropertiesValuesList m_annotations
 The annotations of the arc, see the general description of the class for possible properties and values.

Protected Member Functions

void onNodeDestruction (CHMHMapNode *node)
 Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.

Protected Attributes

CHMHMapNode::TNodeID m_nodeFrom
 The origin/target nodes for this arc.
CHMHMapNode::TNodeID m_nodeTo
safe_ptr< CHierarchicalMHMapm_parent
 The hierarchical graph in which this object is into.

Private Member Functions

 CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
 Private constructor (see Create class factory).
 CHMHMapArc (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
 Alternative constructor, using pointers for convenience.

Friends

class HMTSLAM_IMPEXP CHierarchicalMHMap
class HMTSLAM_IMPEXP CHMHMapNode
class HMTSLAM_IMPEXP CHierarchicalMapMHPartition
class TArcList

RTTI stuff



typedef CHMHMapArcPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CHMHMapArc
static mrpt::utils::TRuntimeClassId classCHMHMapArc
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CHMHMapArcPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 58 of file CHMHMapArc.h.


Constructor & Destructor Documentation

mrpt::hmtslam::CHMHMapArc::CHMHMapArc ( const CHMHMapNode::TNodeID from = 0,
const CHMHMapNode::TNodeID to = 0,
const THypothesisIDSet hyps = THypothesisIDSet(),
CHierarchicalMHMap parent = NULL 
) [private]

Private constructor (see Create class factory).

mrpt::hmtslam::CHMHMapArc::CHMHMapArc ( CHMHMapNodePtr from,
CHMHMapNodePtr to,
const THypothesisIDSet hyps,
CHierarchicalMHMap parent 
) [private]

Alternative constructor, using pointers for convenience.

virtual mrpt::hmtslam::CHMHMapArc::~CHMHMapArc (  )  [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::_GetBaseClass (  )  [static, protected]

Reimplemented from mrpt::utils::CSerializable.

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create (  )  [static]
static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( CHMHMapNodePtr from,
CHMHMapNodePtr to,
const THypothesisIDSet hyps,
CHierarchicalMHMap parent 
) [static]

Alternative constructor, using pointers for convenience.

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( const CHMHMapNode::TNodeID from,
const CHMHMapNode::TNodeID to,
const THypothesisIDSet hyps = THypothesisIDSet(),
CHierarchicalMHMap parent = NULL 
) [static]

Constructor from node IDs.

static mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::CreateObject (  )  [static]
virtual mrpt::utils::CObject* mrpt::hmtslam::CHMHMapArc::duplicate (  )  const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom (  )  const [inline]

Return the starting node of the arc:

Definition at line 120 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo (  )  const [inline]

Return the ending node of the arc:

Definition at line 124 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

virtual const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::GetRuntimeClass (  )  const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::hmtslam::CHMHMapArc::onNodeDestruction ( CHMHMapNode node  )  [protected]

Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.


Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CHierarchicalMapMHPartition [friend]

Definition at line 54 of file CHMHMapArc.h.

friend class HMTSLAM_IMPEXP CHierarchicalMHMap [friend]

Definition at line 52 of file CHMHMapArc.h.

friend class HMTSLAM_IMPEXP CHMHMapNode [friend]

Definition at line 53 of file CHMHMapArc.h.

friend class TArcList [friend]

Definition at line 55 of file CHMHMapArc.h.


Member Data Documentation

Definition at line 58 of file CHMHMapArc.h.

Definition at line 58 of file CHMHMapArc.h.

Definition at line 58 of file CHMHMapArc.h.

The annotations of the arc, see the general description of the class for possible properties and values.

Definition at line 135 of file CHMHMapArc.h.

The type of the arc, the possibilities are:

  • "Membership": for abstractions
  • "Navegability"
  • "RelativePose".

Definition at line 131 of file CHMHMapArc.h.

The hypothesis IDs under which this arc exists.

Definition at line 63 of file CHMHMapArc.h.

The origin/target nodes for this arc.

Definition at line 68 of file CHMHMapArc.h.

Definition at line 68 of file CHMHMapArc.h.

The hierarchical graph in which this object is into.

Definition at line 72 of file CHMHMapArc.h.




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