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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html">CIncrementalMapPartitioner</a>
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<h1>mrpt::slam::CIncrementalMapPartitioner Class Reference</h1><!-- doxytag: class="mrpt::slam::CIncrementalMapPartitioner" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable,mrpt::utils::CSerializable" -->
<p>This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_incremental_map_partitioner_8h_source.html">mrpt/slam/CIncrementalMapPartitioner.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:</div>
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Collaboration diagram for mrpt::slam::CIncrementalMapPartitioner:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_incremental_map_partitioner__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_incremental_map_partitioner_coll__map" alt="Collaboration graph"/></div>
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<p><a href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Configuration of the algorithm:. <a href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#_details">More...</a><br/></td></tr>
<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_1slam_1_1_c_incremental_map_partitioner.html#af8cc7993d859f8e340d5371131b799d9">CIncrementalMapPartitioner</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor:. <a href="#af8cc7993d859f8e340d5371131b799d9"></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_1slam_1_1_c_incremental_map_partitioner.html#af14cdd6e66297a85cad1d47f48c3e759">~CIncrementalMapPartitioner</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor:. <a href="#af14cdd6e66297a85cad1d47f48c3e759"></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_1slam_1_1_c_incremental_map_partitioner.html#aa5aef758ba24265dc9d15fa1b0607a28">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization: Start of a new map, new internal matrices,. <a href="#aa5aef758ba24265dc9d15fa1b0607a28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec138f7ff4cdcd115983b1d7b2602456">addMapFrame</a> (const CSensoryFramePtr &frame, const CPosePDFPtr &robotPose2D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#aec138f7ff4cdcd115983b1d7b2602456"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a991bdd319212d235839f1841df2a7ad1">addMapFrame</a> (const CSensoryFramePtr &frame, const CPose3DPDFPtr &robotPose3D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#a991bdd319212d235839f1841df2a7ad1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ad8eb836d4a4a6966d5d8b93c098bb25a">addMapFrame</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &frame, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &robotPose3D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#ad8eb836d4a4a6966d5d8b93c098bb25a"></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_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b">updatePartitions</a> (std::vector< <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_uint</a> > &partitions)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method executed only the neccesary part of the partition to take into account the lastest added frames. <a href="#ac343b71302f00e45397fc337f513566b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae3dc93fcf6bd3715c8e2f7d7a1a1aee2">getNodesCount</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">It returns the nodes count currently in the internal map/graph. <a href="#ae3dc93fcf6bd3715c8e2f7d7a1a1aee2"></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_1slam_1_1_c_incremental_map_partitioner.html#a59f3e4ab4ac58ff54d714fc0a7bf7e4d">removeSetOfNodes</a> (<a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_uint</a> indexesToRemove, bool changeCoordsRef=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove the stated nodes (0-based indexes) from the internal lists. <a href="#a59f3e4ab4ac58ff54d714fc0a7bf7e4d"></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_1slam_1_1_c_incremental_map_partitioner.html#aecf4c7fdf0ce183e46d2d513dd7cc5a3">getAdjacencyMatrix</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix.html">CMatrix</a> &outMatrix) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the internal adjacency matrix. <a href="#aecf4c7fdf0ce183e46d2d513dd7cc5a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0f198071ed5e69fe0bfcbcbca38e8e88">getSequenceOfFrames</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read-only access to the sequence of Sensory Frames. <a href="#a0f198071ed5e69fe0bfcbcbca38e8e88"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa162635c4f9bed86d7e0ebab43bc04eb">getSequenceOfFrames</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to the sequence of Sensory Frames. <a href="#aa162635c4f9bed86d7e0ebab43bc04eb"></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_1slam_1_1_c_incremental_map_partitioner.html#a10f043c79591eddf9ac64ebf6803330b">markAllNodesForReconsideration</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. <a href="#a10f043c79591eddf9ac64ebf6803330b"></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_1slam_1_1_c_incremental_map_partitioner.html#afc8320298fe2ae3b9fbde02108eef5d5">changeCoordinatesOrigin</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newOrigin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. <a href="#afc8320298fe2ae3b9fbde02108eef5d5"></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_1slam_1_1_c_incremental_map_partitioner.html#a080983ca158b3682242876a2cfac1430">changeCoordinatesOriginPoseIndex</a> (const unsigned &newOriginPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. <a href="#a080983ca158b3682242876a2cfac1430"></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_1slam_1_1_c_incremental_map_partitioner.html#a51a129e530260d236545df642d351309">getAs3DScene</a> (mrpt::opengl::CSetOfObjectsPtr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of the current state: poses & links between them. <a href="#a51a129e530260d236545df642d351309"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">mrpt::slam::CIncrementalMapPartitioner::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa1aff35a962bd7361afe5ba0ef5002fc">options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Configuration of the algorithm:. <a href="#aa1aff35a962bd7361afe5ba0ef5002fc"></a><br/></td></tr>
<tr><td colspan="2"><h2>Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0">m_individualFrames</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">El conjunto de los scans se guardan en un array:. <a href="#ac202e70e3c3441c05fbd16f16dc5e7b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::deque<br class="typebreak"/>
< <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">mrpt::slam::CMultiMetricMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">m_individualMaps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac">m_A</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Adjacency matrix. <a href="#a68c6444dee3b2a30d11e887a383bffac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_uint</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa0220ab7837fc5d1d2befb05cf32ecaf">m_last_partition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last partition. <a href="#aa0220ab7837fc5d1d2befb05cf32ecaf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aac5b5fcd23f95b65ace0c69cb1c820ad">m_last_last_partition_are_new_ones</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This will be true after adding new observations, and before an "updatePartitions" is invoked. <a href="#aac5b5fcd23f95b65ace0c69cb1c820ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< uint8_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17">m_modified_nodes</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">La lista de nodos que hay que tener en cuenta en la proxima actualizacion:. <a href="#a0376000b379df906db5750da43ba4c17"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00056">56</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
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<td class="memname">mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner </td>
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<p>Constructor:. </p>
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<a class="anchor" id="af14cdd6e66297a85cad1d47f48c3e759"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner" ref="af14cdd6e66297a85cad1d47f48c3e759" args="()" -->
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<td class="memname">virtual mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner </td>
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<td><code> [virtual]</code></td>
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<p>Destructor:. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad8eb836d4a4a6966d5d8b93c098bb25a"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::addMapFrame" ref="ad8eb836d4a4a6966d5d8b93c098bb25a" args="(const CSensoryFrame &frame, const CPose3DPDF &robotPose3D)" -->
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<td class="memname">unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> & </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>frame</em> </td><td>The sensed data </td></tr>
<tr><td valign="top"></td><td valign="top"><em>robotPose</em> </td><td>An estimation of the robot global 2D pose. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account...">updatePartitions</a> </dd></dl>
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<a class="anchor" id="a991bdd319212d235839f1841df2a7ad1"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::addMapFrame" ref="a991bdd319212d235839f1841df2a7ad1" args="(const CSensoryFramePtr &frame, const CPose3DPDFPtr &robotPose3D)" -->
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<td class="memname">unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame </td>
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<td class="paramtype">const CSensoryFramePtr & </td>
<td class="paramname"> <em>frame</em>, </td>
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<td class="paramtype">const CPose3DPDFPtr & </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>frame</em> </td><td>The sensed data </td></tr>
<tr><td valign="top"></td><td valign="top"><em>robotPose</em> </td><td>An estimation of the robot global 2D pose. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account...">updatePartitions</a> </dd></dl>
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<a class="anchor" id="aec138f7ff4cdcd115983b1d7b2602456"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::addMapFrame" ref="aec138f7ff4cdcd115983b1d7b2602456" args="(const CSensoryFramePtr &frame, const CPosePDFPtr &robotPose2D)" -->
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<td class="memname">unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame </td>
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<td class="paramtype">const CPosePDFPtr & </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"></td><td valign="top"><em>frame</em> </td><td>The sensed data </td></tr>
<tr><td valign="top"></td><td valign="top"><em>robotPose</em> </td><td>An estimation of the robot global 2D pose. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account...">updatePartitions</a> </dd></dl>
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin </td>
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<p>Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. </p>
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOriginPoseIndex </td>
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<p>Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. </p>
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::clear </td>
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<p>Initialization: Start of a new map, new internal matrices,. </p>
<p>.. </p>
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix </td>
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<p>Returns a copy of the internal adjacency matrix. </p>
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<a class="anchor" id="a51a129e530260d236545df642d351309"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getAs3DScene" ref="a51a129e530260d236545df642d351309" args="(mrpt::opengl::CSetOfObjectsPtr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const " -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::getAs3DScene </td>
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<p>Returns a 3D representation of the current state: poses & links between them. </p>
<p>The previous contents of "objs" will be discarded </p>
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<p>It returns the nodes count currently in the internal map/graph. </p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames </td>
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<p>Access to the sequence of Sensory Frames. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00180">180</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<td class="memname">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames </td>
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<p>Read-only access to the sequence of Sensory Frames. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00173">173</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<p>Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. </p>
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<p>Remove the stated nodes (0-based indexes) from the internal lists. </p>
<p>If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0). </p>
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<p>This method executed only the neccesary part of the partition to take into account the lastest added frames. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec138f7ff4cdcd115983b1d7b2602456" title="Add a new frame to the current graph: call this method each time a new observation...">addMapFrame</a> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac">mrpt::slam::CIncrementalMapPartitioner::m_A</a><code> [private]</code></td>
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<p>Adjacency matrix. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00212">212</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0">mrpt::slam::CIncrementalMapPartitioner::m_individualFrames</a><code> [private]</code></td>
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<p>El conjunto de los scans se guardan en un array:. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00206">206</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<td class="memname">std::deque<<a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">mrpt::slam::CMultiMetricMap</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">mrpt::slam::CIncrementalMapPartitioner::m_individualMaps</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00207">207</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<p>This will be true after adding new observations, and before an "updatePartitions" is invoked. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00220">220</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<p>The last partition. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00216">216</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<td class="memname">std::vector<uint8_t> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17">mrpt::slam::CIncrementalMapPartitioner::m_modified_nodes</a><code> [private]</code></td>
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<p>La lista de nodos que hay que tener en cuenta en la proxima actualizacion:. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00224">224</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="aa1aff35a962bd7361afe5ba0ef5002fc"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::options" ref="aa1aff35a962bd7361afe5ba0ef5002fc" args="" -->
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">mrpt::slam::CIncrementalMapPartitioner::TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa1aff35a962bd7361afe5ba0ef5002fc">mrpt::slam::CIncrementalMapPartitioner::options</a></td>
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<p>Configuration of the algorithm:. </p>
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