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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1hmtslam.html">hmtslam</a>::<a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html">CHierarchicalMHMap</a>
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<h1>mrpt::hmtslam::CHierarchicalMHMap Class Reference</h1><!-- doxytag: class="mrpt::hmtslam::CHierarchicalMHMap" --><!-- doxytag: inherits="mrpt::utils::CSerializable,mrpt::hmtslam::CHierarchicalMapMHPartition" -->
<p>The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_hierarchical_m_h_map_8h_source.html">mrpt/hmtslam/CHierarchicalMHMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<div class="dynheader">
Collaboration diagram for mrpt::hmtslam::CHierarchicalMHMap:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map__coll__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_coll__map" alt="Collaboration graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a7bc32e2f20bd7e89d7f06f733e44c09c">CHierarchicalMHMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a7bc32e2f20bd7e89d7f06f733e44c09c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a62e319ddb14d149f8cbe1de794ec6ab4">dumpAsXMLfile</a> (std::string fileName) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a62e319ddb14d149f8cbe1de794ec6ab4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a66674e1975dacfae88c6dbfcd71aeaa9">loadFromXMLfile</a> (std::string fileName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load a graph from a XML file. <a href="#a66674e1975dacfae88c6dbfcd71aeaa9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#acbcbd72feb3aa1b2e820270ff0c33e9c">~CHierarchicalMHMap</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#abc8a8056433670e76182d202d2595db3">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all the contents of map (It delete all nodes/arcs objects). <a href="#abc8a8056433670e76182d202d2595db3"></a><br/></td></tr>
<tr><td colspan="2"><h2>Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#aa395e7a6b80d4fff7c1e1270619bff0a">onNodeAddition</a> (CHMHMapNodePtr &node)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just after a node has being created: it will be added to the internal list. <a href="#aa395e7a6b80d4fff7c1e1270619bff0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a62b693aa6065e4ec6bf088debd13c0f6">onArcAddition</a> (CHMHMapArcPtr &arc)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just after an arc has being created: it will be added to the internal list. <a href="#a62b693aa6065e4ec6bf088debd13c0f6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a05b6d54ab240df1c88bbfeed45302513">onNodeDestruction</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a> *node)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just before a node is being destroyed: it will be removed from the internal list. <a href="#a05b6d54ab240df1c88bbfeed45302513"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a0283c1f65e5aec98673a0b3dc9fd2d25">onArcDestruction</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a> *arc)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. <a href="#a0283c1f65e5aec98673a0b3dc9fd2d25"></a><br/></td></tr>
<tr><td colspan="2"><h2>Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#ab7007eebcebfd6d6376a5f538ba2a7d7">CHMHMapArc</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#aba14e7d1bb417aaba5694b74e63ef66c">CHMHMapNode</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. </p>
<p>This class is used within the HMT-SLAM implementation in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html" title="An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).">CHMTSLAM</a>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html" title="An implementation of Hybrid Metric Topological SLAM (HMT-SLAM).">CHMTSLAM</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis...">CHMHMapArc</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a>, CHierarchicalMHMapPartition </dd></dl>
<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00043">43</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a7bc32e2f20bd7e89d7f06f733e44c09c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap" ref="a7bc32e2f20bd7e89d7f06f733e44c09c" args="()" -->
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<td class="memname">mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap </td>
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<p>Default constructor. </p>
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<a class="anchor" id="acbcbd72feb3aa1b2e820270ff0c33e9c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap" ref="acbcbd72feb3aa1b2e820270ff0c33e9c" args="()" -->
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<td class="memname">virtual mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap </td>
<td>(</td>
<td class="paramname"></td>
<td> ) </td>
<td><code> [virtual]</code></td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abc8a8056433670e76182d202d2595db3"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::clear" ref="abc8a8056433670e76182d202d2595db3" args="()" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::clear </td>
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<p>Erase all the contents of map (It delete all nodes/arcs objects). </p>
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<a class="anchor" id="a62e319ddb14d149f8cbe1de794ec6ab4"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile" ref="a62e319ddb14d149f8cbe1de794ec6ab4" args="(std::string fileName) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile </td>
<td>(</td>
<td class="paramtype">std::string </td>
<td class="paramname"> <em>fileName</em></td>
<td> ) </td>
<td> const</td>
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<p>Destructor. </p>
<p>Save the whole graph as a XML file </p>
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<a class="anchor" id="a66674e1975dacfae88c6dbfcd71aeaa9"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile" ref="a66674e1975dacfae88c6dbfcd71aeaa9" args="(std::string fileName)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile </td>
<td>(</td>
<td class="paramtype">std::string </td>
<td class="paramname"> <em>fileName</em></td>
<td> ) </td>
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<p>Load a graph from a XML file. </p>
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<a class="anchor" id="a62b693aa6065e4ec6bf088debd13c0f6"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onArcAddition" ref="a62b693aa6065e4ec6bf088debd13c0f6" args="(CHMHMapArcPtr &arc)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onArcAddition </td>
<td>(</td>
<td class="paramtype">CHMHMapArcPtr & </td>
<td class="paramname"> <em>arc</em></td>
<td> ) </td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just after an arc has being created: it will be added to the internal list. </p>
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<a class="anchor" id="a0283c1f65e5aec98673a0b3dc9fd2d25"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onArcDestruction" ref="a0283c1f65e5aec98673a0b3dc9fd2d25" args="(CHMHMapArc *arc)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onArcDestruction </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a> * </td>
<td class="paramname"> <em>arc</em></td>
<td> ) </td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>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. </dd></dl>
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<a class="anchor" id="aa395e7a6b80d4fff7c1e1270619bff0a"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition" ref="aa395e7a6b80d4fff7c1e1270619bff0a" args="(CHMHMapNodePtr &node)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition </td>
<td>(</td>
<td class="paramtype">CHMHMapNodePtr & </td>
<td class="paramname"> <em>node</em></td>
<td> ) </td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just after a node has being created: it will be added to the internal list. </p>
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<a class="anchor" id="a05b6d54ab240df1c88bbfeed45302513"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction" ref="a05b6d54ab240df1c88bbfeed45302513" args="(CHMHMapNode *node)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a> * </td>
<td class="paramname"> <em>node</em></td>
<td> ) </td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just before a node is being destroyed: it will be removed from the internal list. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>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. </dd></dl>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="ab7007eebcebfd6d6376a5f538ba2a7d7"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHMHMapArc" ref="ab7007eebcebfd6d6376a5f538ba2a7d7" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00045">45</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="aba14e7d1bb417aaba5694b74e63ef66c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHMHMapNode" ref="aba14e7d1bb417aaba5694b74e63ef66c" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00046">46</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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