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<h1>CRobotPosesGraph.h</h1><a href="_c_robot_poses_graph_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CRobotPosesGraph_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CRobotPosesGraph_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_h_m_t___s_l_a_m__common_8h.html">mrpt/hmtslam/HMT_SLAM_common.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_particles_8h.html">mrpt/poses/CPose3DPDFParticles.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_sensory_frame_8h.html">mrpt/slam/CSensoryFrame.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_simple_map_8h.html">mrpt/slam/CSimpleMap.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_multi_metric_map_8h.html">mrpt/slam/CMultiMetricMap.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hmtslam
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** Information kept for each robot pose used in CRobotPosesGraph */</span>
<a name="l00047"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_t_pose_info.html">00047</a> <span class="keyword">struct </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="structmrpt_1_1hmtslam_1_1_t_pose_info.html" title="Information kept for each robot pose used in CRobotPosesGraph.">TPoseInfo</a>
<a name="l00048"></a>00048 {
<a name="l00049"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_t_pose_info.html#a932c844eeff6a225761126296c0c1865">00049</a> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a &quot;sensory frame&quot;, a set of &quot;observations&quot;...">CSensoryFrame</a> sf; <span class="comment">//!< The observations</span>
<a name="l00050"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_t_pose_info.html#ac2350a4c1351965edafa73593448fb2b">00050</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose...">CPose3DPDFParticles</a> pdf; <span class="comment">//!< The robot pose PDF</span>
<a name="l00051"></a>00051 <span class="comment"></span> };
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html" title="Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class...">CRobotPosesGraph</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects...">mrpt::utils::CSerializable</a>, <a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> )
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">/** Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html">00057</a> class <a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html" title="Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class...">CRobotPosesGraph</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects...">CSerializable</a>, public std::map<<a class="code" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf" title="An integer number uniquely identifying each robot pose stored in HMT-SLAM.">TPoseID</a>,<a class="code" href="structmrpt_1_1hmtslam_1_1_t_pose_info.html" title="Information kept for each robot pose used in CRobotPosesGraph.">TPoseInfo</a>>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00060"></a>00060 <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html" title="Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class...">CRobotPosesGraph</a> )
<a name="l00061"></a>00061 <span class="keyword">public</span>:
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Insert all the observations in the map (without erasing previous contents). */</span>
<a name="l00064"></a>00064 <span class="keywordtype">void</span> insertIntoMetricMap( <a class="code" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html" title="This class stores any customizable set of metric maps.">CMultiMetricMap</a> &metricMap ) <span class="keyword">const</span>;
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object. */</span>
<a name="l00067"></a>00067 <span class="keywordtype">void</span> convertIntoSimplemap( <a class="code" href="classmrpt_1_1slam_1_1_c_simple_map.html" title="This class stores a sequence of &lt;Probabilistic Pose,SensoryFrame&gt; pairs, thus...">CSimpleMap</a> &out_simplemap) <span class="keyword">const</span>;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 }; <span class="comment">// end of class</span>
<a name="l00070"></a>00070
<a name="l00071"></a>00071
<a name="l00072"></a>00072 } <span class="comment">// End of namespace</span>
<a name="l00073"></a>00073 } <span class="comment">// End of namespace</span>
<a name="l00074"></a>00074 <span class="preprocessor">#endif</span>
</pre></div></div>
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