This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.
The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.
Definition at line 51 of file CSimpleMap.h.
#include <mrpt/slam/CSimpleMap.h>
Public Types | |
typedef std::pair < CPose3DPDFPtr, CSensoryFramePtr > | TPosePDFSensFramePair |
typedef std::deque < TPosePDFSensFramePair > | TPosePDFSensFramePairList |
typedef TPosePDFSensFramePairList::const_iterator | const_iterator |
typedef TPosePDFSensFramePairList::iterator | iterator |
typedef TPosePDFSensFramePairList::reverse_iterator | reverse_iterator |
typedef TPosePDFSensFramePairList::const_reverse_iterator | const_reverse_iterator |
Public Member Functions | |
CSimpleMap () | |
Constructor. | |
CSimpleMap (const CSimpleMap &o) | |
Copy constructor. | |
CSimpleMap & | operator= (const CSimpleMap &o) |
Copy constructor. | |
virtual | ~CSimpleMap () |
Destructor: | |
bool | saveToFile (const std::string &filName) const |
Save this object to a .simplemap binary file (compressed with gzip) | |
bool | loadFromFile (const std::string &filName) |
Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) | |
size_t | size () const |
Returns the pairs count. | |
void | get (size_t index, CPose3DPDFPtr &out_posePDF, CSensoryFramePtr &out_SF) const |
Access to the i'th pair, first one is index '0'. | |
void | set (size_t index, const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF) |
Changes the i'th pair, first one is index '0'. | |
void | set (size_t index, const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF) |
Changes the i'th pair, first one is index '0'. | |
void | remove (size_t index) |
Deletes the i'th pair, first one is index '0'. | |
void | insert (const CPose3DPDF *in_posePDF, const CSensoryFrame &in_SF) |
Add a new pair to the sequence. | |
void | insert (const CPose3DPDF *in_posePDF, const CSensoryFramePtr &in_SF) |
Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). | |
void | insert (const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF) |
Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). | |
void | insert (const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF) |
Add a new pair to the sequence. | |
void | insert (const CPosePDF *in_posePDF, const CSensoryFrame &in_SF) |
Add a new pair to the sequence. | |
void | insert (const CPosePDF *in_posePDF, const CSensoryFramePtr &in_SF) |
Add a new pair to the sequence. | |
void | clear () |
Remove all stored pairs. | |
void | changeCoordinatesOrigin (const CPose3D &newOrigin) |
Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. | |
const_iterator | begin () const |
const_iterator | end () const |
iterator | begin () |
iterator | end () |
const_reverse_iterator | rbegin () const |
const_reverse_iterator | rend () const |
reverse_iterator | rbegin () |
reverse_iterator | rend () |
Private Attributes | |
TPosePDFSensFramePairList | m_posesObsPairs |
The stored data. | |
RTTI stuff | |
typedef CSimpleMapPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CSimpleMap |
static mrpt::utils::TRuntimeClassId | classCSimpleMap |
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CSimpleMapPtr | Create () |
Definition at line 160 of file CSimpleMap.h.
typedef TPosePDFSensFramePairList::const_reverse_iterator mrpt::slam::CSimpleMap::const_reverse_iterator |
Definition at line 163 of file CSimpleMap.h.
Definition at line 161 of file CSimpleMap.h.
typedef TPosePDFSensFramePairList::reverse_iterator mrpt::slam::CSimpleMap::reverse_iterator |
Definition at line 162 of file CSimpleMap.h.
A typedef for the associated smart pointer
Definition at line 54 of file CSimpleMap.h.
typedef std::pair<CPose3DPDFPtr,CSensoryFramePtr> mrpt::slam::CSimpleMap::TPosePDFSensFramePair |
Definition at line 157 of file CSimpleMap.h.
typedef std::deque<TPosePDFSensFramePair> mrpt::slam::CSimpleMap::TPosePDFSensFramePairList |
Definition at line 158 of file CSimpleMap.h.
mrpt::slam::CSimpleMap::CSimpleMap | ( | ) |
Constructor.
mrpt::slam::CSimpleMap::CSimpleMap | ( | const CSimpleMap & | o ) |
Copy constructor.
virtual mrpt::slam::CSimpleMap::~CSimpleMap | ( | ) | [virtual] |
Destructor:
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
const_iterator mrpt::slam::CSimpleMap::begin | ( | ) | const [inline] |
Definition at line 166 of file CSimpleMap.h.
iterator mrpt::slam::CSimpleMap::begin | ( | ) | [inline] |
Definition at line 168 of file CSimpleMap.h.
void mrpt::slam::CSimpleMap::changeCoordinatesOrigin | ( | const CPose3D & | newOrigin ) |
Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.
void mrpt::slam::CSimpleMap::clear | ( | ) |
Remove all stored pairs.
static CSimpleMapPtr mrpt::slam::CSimpleMap::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CSimpleMap::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CSimpleMap::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
const_iterator mrpt::slam::CSimpleMap::end | ( | ) | const [inline] |
Definition at line 167 of file CSimpleMap.h.
iterator mrpt::slam::CSimpleMap::end | ( | ) | [inline] |
Definition at line 169 of file CSimpleMap.h.
void mrpt::slam::CSimpleMap::get | ( | size_t | index, |
CPose3DPDFPtr & | out_posePDF, | ||
CSensoryFramePtr & | out_SF | ||
) | const |
Access to the i'th pair, first one is index '0'.
NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so do neither modify them nor delete them. NOTE: You can pass a NULL pointer if you dont need one of the two variables to be returned.
std::exception | On index out of bounds. |
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::slam::CSimpleMap::insert | ( | const CPosePDF * | in_posePDF, |
const CSensoryFramePtr & | in_SF | ||
) |
Add a new pair to the sequence.
The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.
void mrpt::slam::CSimpleMap::insert | ( | const CPose3DPDFPtr & | in_posePDF, |
const CSensoryFramePtr & | in_SF | ||
) |
Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).
void mrpt::slam::CSimpleMap::insert | ( | const CPosePDFPtr & | in_posePDF, |
const CSensoryFramePtr & | in_SF | ||
) |
Add a new pair to the sequence.
The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.
void mrpt::slam::CSimpleMap::insert | ( | const CPosePDF * | in_posePDF, |
const CSensoryFrame & | in_SF | ||
) |
Add a new pair to the sequence.
The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.
void mrpt::slam::CSimpleMap::insert | ( | const CPose3DPDF * | in_posePDF, |
const CSensoryFrame & | in_SF | ||
) |
Add a new pair to the sequence.
The objects are copied, so original ones can be free if desired after insertion.
void mrpt::slam::CSimpleMap::insert | ( | const CPose3DPDF * | in_posePDF, |
const CSensoryFramePtr & | in_SF | ||
) |
Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).
bool mrpt::slam::CSimpleMap::loadFromFile | ( | const std::string & | filName ) |
Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)
CSimpleMap& mrpt::slam::CSimpleMap::operator= | ( | const CSimpleMap & | o ) |
Copy constructor.
const_reverse_iterator mrpt::slam::CSimpleMap::rbegin | ( | ) | const [inline] |
Definition at line 171 of file CSimpleMap.h.
reverse_iterator mrpt::slam::CSimpleMap::rbegin | ( | ) | [inline] |
Definition at line 173 of file CSimpleMap.h.
void mrpt::slam::CSimpleMap::remove | ( | size_t | index ) |
const_reverse_iterator mrpt::slam::CSimpleMap::rend | ( | ) | const [inline] |
Definition at line 172 of file CSimpleMap.h.
reverse_iterator mrpt::slam::CSimpleMap::rend | ( | ) | [inline] |
Definition at line 174 of file CSimpleMap.h.
bool mrpt::slam::CSimpleMap::saveToFile | ( | const std::string & | filName ) | const |
Save this object to a .simplemap binary file (compressed with gzip)
void mrpt::slam::CSimpleMap::set | ( | size_t | index, |
const CPosePDFPtr & | in_posePDF, | ||
const CSensoryFramePtr & | in_SF | ||
) |
Changes the i'th pair, first one is index '0'.
The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.
std::exception | On index out of bounds. |
void mrpt::slam::CSimpleMap::set | ( | size_t | index, |
const CPose3DPDFPtr & | in_posePDF, | ||
const CSensoryFramePtr & | in_SF | ||
) |
Changes the i'th pair, first one is index '0'.
The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).
std::exception | On index out of bounds. |
size_t mrpt::slam::CSimpleMap::size | ( | ) | const |
Returns the pairs count.
mrpt::utils::CLASSINIT mrpt::slam::CSimpleMap::_init_CSimpleMap [static, protected] |
Definition at line 54 of file CSimpleMap.h.
Definition at line 54 of file CSimpleMap.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CSimpleMap::classinfo [static] |
Definition at line 54 of file CSimpleMap.h.
The stored data.
Definition at line 178 of file CSimpleMap.h.
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