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mrpt::hmtslam::CHMHMapNode Class Reference


Detailed Description

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.

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

Definition at line 57 of file CHMHMapNode.h.

#include <mrpt/hmtslam/CHMHMapNode.h>

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

List of all members.

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:

  • Place
  • Area
  • TopologicalMap
  • Object.

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.

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:
safe_ptr< CHierarchicalMHMapm_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

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
 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 CHMHMapNodePtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 64 of file CHMHMapNode.h.

The type of the IDs of nodes.

Definition at line 69 of file CHMHMapNode.h.


Constructor & Destructor Documentation

mrpt::hmtslam::CHMHMapNode::CHMHMapNode ( CHierarchicalMHMap parent = NULL,
const THypothesisIDSet hyps = THypothesisIDSet() 
) [private]

Private constructor (see Create class factory)

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

Destructor.


Member Function Documentation

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

Reimplemented from mrpt::utils::CSerializable.

static CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Create (  ) [static]
static CHMHMapNodePtr mrpt::hmtslam::CHMHMapNode::Create ( CHierarchicalMHMap parent = NULL,
const THypothesisIDSet hyps = THypothesisIDSet() 
) [static]

Class factory.

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

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

Implements mrpt::utils::CObject.

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.

void mrpt::hmtslam::CHMHMapNode::getArcs ( TArcList out ) const [inline]

Returns a list with the arcs from/to this node.

Definition at line 145 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.

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.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

bool mrpt::hmtslam::CHMHMapNode::isNeighbor ( const TNodeID otherArea,
const THypothesisID hyp_id 
) const

Check whether an arc exists towards the given area.

void mrpt::hmtslam::CHMHMapNode::onArcAddition ( CHMHMapArcPtr arc ) [protected]

Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.

void mrpt::hmtslam::CHMHMapNode::onArcDestruction ( CHMHMapArc arc ) [protected]

Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.

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.

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CHierarchicalMHMap [friend]

Definition at line 59 of file CHMHMapNode.h.

friend class HMTSLAM_IMPEXP CHierarchicalMHMapPartition [friend]

Definition at line 60 of file CHMHMapNode.h.

friend class HMTSLAM_IMPEXP CHMHMapArc [friend]

Definition at line 61 of file CHMHMapNode.h.


Member Data Documentation

Definition at line 64 of file CHMHMapNode.h.

Definition at line 64 of file CHMHMapNode.h.

Definition at line 64 of file CHMHMapNode.h.

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

Definition at line 117 of file CHMHMapNode.h.

The list of all arcs from/to this node:

Definition at line 82 of file CHMHMapNode.h.

The hypothesis IDs under which this node exists.

Definition at line 73 of file CHMHMapNode.h.

An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.

Definition at line 78 of file CHMHMapNode.h.

The label of the node, only for display it to the user.

Definition at line 133 of file CHMHMapNode.h.

The type of the node, the possibilities are:

  • Place
  • Area
  • TopologicalMap
  • Object.

Definition at line 125 of file CHMHMapNode.h.

The hierarchical graph in which this object is into.

Definition at line 95 of file CHMHMapNode.h.




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