00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CHierarchicalMHMap_H 00029 #define CHierarchicalMHMap_H 00030 00031 #include <mrpt/hmtslam/CHMHMapNode.h> 00032 #include <mrpt/hmtslam/CHMHMapArc.h> 00033 #include <mrpt/hmtslam/CHierarchicalMapMHPartition.h> 00034 #include <mrpt/slam/CSimpleMap.h> 00035 #include <mrpt/slam/CMultiMetricMap.h> 00036 #include <mrpt/utils/CSerializable.h> 00037 00038 00039 namespace mrpt 00040 { 00041 namespace hmtslam 00042 { 00043 using namespace mrpt::slam; 00044 00045 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHierarchicalMHMap, mrpt::utils::CSerializable, HMTSLAM_IMPEXP ) 00046 00047 /** The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. 00048 * This class is used within the HMT-SLAM implementation in CHMTSLAM. 00049 * \sa CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition 00050 */ 00051 class HMTSLAM_IMPEXP CHierarchicalMHMap : public mrpt::utils::CSerializable, public CHierarchicalMapMHPartition 00052 { 00053 friend class HMTSLAM_IMPEXP CHMHMapArc; 00054 friend class HMTSLAM_IMPEXP CHMHMapNode; 00055 00056 // This must be added to any CSerializable derived class: 00057 DEFINE_SERIALIZABLE( CHierarchicalMHMap ) 00058 protected: 00059 /** Event handler to be called just after a node has being created: it will be added to the internal list. 00060 */ 00061 void onNodeAddition(CHMHMapNodePtr &node); 00062 00063 /** Event handler to be called just after an arc has being created: it will be added to the internal list. 00064 */ 00065 void onArcAddition(CHMHMapArcPtr &arc); 00066 00067 /** Event handler to be called just before a node is being destroyed: it will be removed from the internal list. 00068 * \note At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers. 00069 */ 00070 void onNodeDestruction(CHMHMapNode* node); 00071 00072 /** Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. 00073 * \note At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers. 00074 */ 00075 void onArcDestruction(CHMHMapArc* arc); 00076 00077 public: 00078 /** Default constructor 00079 */ 00080 CHierarchicalMHMap(); 00081 00082 /** Destructor 00083 */ 00084 00085 /** Save the whole graph as a XML file */ 00086 void dumpAsXMLfile(std::string fileName) const; 00087 00088 /** Load a graph from a XML file */ 00089 void loadFromXMLfile(std::string fileName); 00090 00091 00092 virtual ~CHierarchicalMHMap(); 00093 00094 /** Erase all the contents of map (It delete all nodes/arcs objects) 00095 */ 00096 void clear(); 00097 00098 }; // End of class def. 00099 00100 } // End of namespace 00101 } // End of namespace 00102 00103 #endif
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