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<h1>mrpt::hmtslam::CLocalMetricHypothesis Class Reference</h1> </div>
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<!-- doxytag: class="mrpt::hmtslam::CLocalMetricHypothesis" --><!-- doxytag: inherits="mrpt::bayes::CParticleFilterCapable,CParticleFilterData< CLSLAMParticleData >,mrpt::utils::CSerializable" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). </p>
<p>It has a set of particles representing the robot path in nearby poses. </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_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00092">92</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
<p><code>#include <<a class="el" href="_c_local_metric_hypothesis_8h_source.html">mrpt/hmtslam/CLocalMetricHypothesis.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CLocalMetricHypothesis:<!-- endSectionHeader --></div>
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<p><a href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
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_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">TRobotPosesPartitioning</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used by AA thread. <a href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html#_details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_local_metric_hypothesis.html#a2bbdca2d89a2fb8af1653bd7329a47b9">CLocalMetricHypothesis</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> *parent=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor (Default param only used from STL classes) <a href="#a2bbdca2d89a2fb8af1653bd7329a47b9"></a><br/></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_local_metric_hypothesis.html#a86511a658f5bee0d6f691d587f88f28d">~CLocalMetricHypothesis</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a86511a658f5bee0d6f691d587f88f28d"></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_local_metric_hypothesis.html#acc0d025987f9c66caad5d68000f1eae9">getAs3DScene</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &objs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. <a href="#acc0d025987f9c66caad5d68000f1eae9"></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_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4">getMeans</a> (std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> > &outList) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean of each robot pose in this LMH, as computed from the set of particles. <a href="#a900ef425bec6c5c83e76b966e91791e4"></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_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c">getPathParticles</a> (std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> > &outList) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. <a href="#a4ba3c721e2267263ffdc71fc135eb51c"></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_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237">getPoseParticles</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &poseID, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &outPDF) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. <a href="#afa8b95e48dd493f10d7be8bfe15b8237"></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_local_metric_hypothesis.html#ab7bb93d7896dae88dfb3bce6583a8cda">getRelativePose</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &reference, const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &pose, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &outPDF) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). <a href="#ab7bb93d7896dae88dfb3bce6583a8cda"></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_local_metric_hypothesis.html#a140ca3c2a9ed35ae2c309a8048967320">dumpAsText</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> &st) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Describes the LMH in text. <a href="#a140ca3c2a9ed35ae2c309a8048967320"></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_local_metric_hypothesis.html#acba2fa4b741ec7992a9b6a99e821ff2c">changeCoordinateOrigin</a> (const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> &newOrigin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. <a href="#acba2fa4b741ec7992a9b6a99e821ff2c"></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_local_metric_hypothesis.html#a22552cd4b0cb997f5c49db70747270d4">rebuildMetricMaps</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the metric maps of all particles from the observations and their estimated poses. <a href="#a22552cd4b0cb997f5c49db70747270d4"></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_local_metric_hypothesis.html#a606853a7af9972034844b09ac34823ec">clearRobotPoses</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. <a href="#a606853a7af9972034844b09ac34823ec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a46e638e17923e4edd02c82032d928a1f">getCurrentPose</a> (const size_t &particleIdx) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the i'th particle hypothesis for the current robot pose. <a href="#a46e638e17923e4edd02c82032d928a1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1e6d76874e063f203e15e37c1c1181d4">getCurrentPose</a> (const size_t &particleIdx)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the i'th particle hypothesis for the current robot pose. <a href="#a1e6d76874e063f203e15e37c1c1181d4"></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_local_metric_hypothesis.html#a89cceed13077158b256d7e466dace4b4">removeAreaFromLMH</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> areaID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Removes a given area from the LMH:</p>
<ul>
<li>The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH. </li>
</ul>
<a href="#a89cceed13077158b256d7e466dace4b4"></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_local_metric_hypothesis.html#ac267ba60aa7a869d06c632a2a0550677">updateAreaFromLMH</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> areaID, bool eraseSFsFromLMH=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. <a href="#ac267ba60aa7a869d06c632a2a0550677"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3fca93101fbbd36f8542deb960231f53">m_lock</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Critical section for threads signaling they are working with the LMH. <a href="#a3fca93101fbbd36f8542deb960231f53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a559c9d5b9fcc9325ecd95f722fbe682f">m_ID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). <a href="#a559c9d5b9fcc9325ecd95f722fbe682f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1utils_1_1safe__ptr.html">safe_ptr</a>< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#acb6413f6bc48d29770cc179eab5ee0a3">m_parent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For quick access to our parent object. <a href="#acb6413f6bc48d29770cc179eab5ee0a3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ae2172d3ffdfeeefe6183f6dca598f960">m_currentRobotPose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The current robot pose (its global unique ID) for this hypothesis. <a href="#ae2172d3ffdfeeefe6183f6dca598f960"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7bda1e6774884134f9b34d220eccd5df">m_neighbors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of all areas sourronding the current one (this includes the current area itself). <a href="#a7bda1e6774884134f9b34d220eccd5df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <br class="typebreak"/>
<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ad7adc8d8a5e7a04334a50558b051aa15">m_nodeIDmemberships</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The hybrid map node membership for each robot pose. <a href="#ad7adc8d8a5e7a04334a50558b051aa15"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a9a921aef54b49bab62dc18e20913f44e">m_SFs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The SF gathered at each robot pose. <a href="#a9a921aef54b49bab62dc18e20913f44e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">TPoseIDList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#af701aeb4da0c4c13ae8e288e92389ccf">m_posesPendingAddPartitioner</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. <a href="#af701aeb4da0c4c13ae8e288e92389ccf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1list__searchable.html">TNodeIDList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1baff49d6df7e31ad47308f9d4dcf411">m_areasPendingTBI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a162ff392270839bc8c37a771308ac820" title="No critical section locks are assumed at the entrance of this method.">CHMTSLAM::LSLAM_process_message_from_AA</a>, read in. <a href="#a1baff49d6df7e31ad47308f9d4dcf411"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3b7c38915660b84a3b3de6a80b5b4d97">m_log_w</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Log-weight of this hypothesis. <a href="#a3b7c38915660b84a3b3de6a80b5b4d97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <br class="typebreak"/>
double > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adcde7731917b103e6e4b460c1627b215">m_log_w_metric_history</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The historic log-weights of the metric observations inserted in this LMH, for each particle. <a href="#adcde7731917b103e6e4b460c1627b215"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1683692cc38d5b813b5dcf35aabecf3d">m_accumRobotMovement</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. <a href="#a1683692cc38d5b813b5dcf35aabecf3d"></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_1hmtslam_1_1_c_local_metric_hypothesis.html#a8ed7c3c48ce94c1310a19a59adde5b38">m_accumRobotMovementIsValid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. <a href="#a8ed7c3c48ce94c1310a19a59adde5b38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct <br class="typebreak"/>
<a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3f3981f549cb1cef110fc034bd3bea8f">m_robotPosesGraph</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Virtual methods for Particle Filter implementation (just a wrapper interface, actually implemented in CHMTSLAM::m_LSLAM_method)</div></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_local_metric_hypothesis.html#a78b180315cc2053366ffc323d70c47d3">prediction_and_update_pfAuxiliaryPFOptimal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The PF algorithm implementation. <a href="#a78b180315cc2053366ffc323d70c47d3"></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_local_metric_hypothesis.html#a0ff4807b7f76022508be551a47fdfb4a">prediction_and_update_pfOptimalProposal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The PF algorithm implementation. <a href="#a0ff4807b7f76022508be551a47fdfb4a"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1dynamicsize__vector.html">vector_double</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#abc11654124437b1de2c11f11b6d4de42">m_pfAuxiliaryPFOptimal_estimatedProb</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#abc11654124437b1de2c11f11b6d4de42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8fabfc4450cff62dfe7a46394238dac2">m_maxLikelihood</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#a8fabfc4450cff62dfe7a46394238dac2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< CPose2D, <br class="typebreak"/>
Eigen::aligned_allocator<br class="typebreak"/>
< CPose2D > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adb3d4f2b5e1ab97d40b9bad40e9a657f">m_movementDraws</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#adb3d4f2b5e1ab97d40b9bad40e9a657f"></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_1hmtslam_1_1_c_local_metric_hypothesis.html#adf3b8099493296b90d5d8e7ffec620da">m_movementDrawsIdx</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#adf3b8099493296b90d5d8e7ffec620da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1poses.html#ab321f17adba329f3e24d41d533408739">StdVector_CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aed755bb8891d2a1dcd96e0b2a17e7db0">m_movementDrawMaximumLikelihood</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. <a href="#aed755bb8891d2a1dcd96e0b2a17e7db0"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
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_local_metric_hypothesis.html#ac34a721ee598515baa4048b339f41013">CLSLAM_RBPF_2DLASER</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a190437d4041db42984c49394686e827d">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aec8abd058803e0bf4f3298a4412981f2">_init_CLocalMetricHypothesis</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a11ea61f54e94e408b5279ea8a785b3f4">classCLocalMetricHypothesis</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a400f9847442c0e95615c9c0382d7d606">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aef3febbb24f0a99281901f025fad1682">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ab0a19d848da91ea2ce401e6436f21862">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#ab0a19d848da91ea2ce401e6436f21862"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ac78d9a44f581338715379d0cd17e2fd1">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#ac78d9a44f581338715379d0cd17e2fd1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7b4ffa0a882471e006c54011c8a67862">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1d60ff6c2b9132127607d4ff0290f167">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a190437d4041db42984c49394686e827d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::SmartPtr" ref="a190437d4041db42984c49394686e827d" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">mrpt::hmtslam::CLocalMetricHypothesis::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00099">99</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a2bbdca2d89a2fb8af1653bd7329a47b9"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CLocalMetricHypothesis" ref="a2bbdca2d89a2fb8af1653bd7329a47b9" args="(CHMTSLAM *parent=NULL)" -->
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<td class="memname">mrpt::hmtslam::CLocalMetricHypothesis::CLocalMetricHypothesis </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> * </td>
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<p>Constructor (Default param only used from STL classes) </p>
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<a class="anchor" id="a86511a658f5bee0d6f691d587f88f28d"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::~CLocalMetricHypothesis" ref="a86511a658f5bee0d6f691d587f88f28d" args="()" -->
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<td class="memname">mrpt::hmtslam::CLocalMetricHypothesis::~CLocalMetricHypothesis </td>
<td>(</td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aef3febbb24f0a99281901f025fad1682"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass" ref="aef3febbb24f0a99281901f025fad1682" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::hmtslam::CLocalMetricHypothesis::_GetBaseClass </td>
<td>(</td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="acba2fa4b741ec7992a9b6a99e821ff2c"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin" ref="acba2fa4b741ec7992a9b6a99e821ff2c" args="(const TPoseID &newOrigin)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::changeCoordinateOrigin </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
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<p>Change all coordinates to set a given robot pose as the new coordinate origin, and rebuild metric maps and change coords in the partitioning subsystem as well. </p>
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<a class="anchor" id="a606853a7af9972034844b09ac34823ec"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses" ref="a606853a7af9972034844b09ac34823ec" args="()" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::clearRobotPoses </td>
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<p>Rebuild the auxiliary metric maps in "m_robotPosesGraph" from the observations "m_SFs" and their estimated poses. </p>
<p>Sets the number of particles to the initial number according to the PF options, and initialize them with no robot poses & empty metric maps. </p>
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<td class="memname">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> mrpt::hmtslam::CLocalMetricHypothesis::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::hmtslam::CLocalMetricHypothesis::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="a140ca3c2a9ed35ae2c309a8048967320"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText" ref="a140ca3c2a9ed35ae2c309a8048967320" args="(utils::CStringList &st) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::dumpAsText </td>
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<p>Describes the LMH in text. </p>
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<a class="anchor" id="ac78d9a44f581338715379d0cd17e2fd1"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::duplicate" ref="ac78d9a44f581338715379d0cd17e2fd1" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::hmtslam::CLocalMetricHypothesis::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="acc0d025987f9c66caad5d68000f1eae9"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene" ref="acc0d025987f9c66caad5d68000f1eae9" args="(mrpt::opengl::CSetOfObjectsPtr &objs) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getAs3DScene </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> & </td>
<td class="paramname"> <em>objs</em> )</td>
<td> const</td>
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<p>Returns a 3D representation of the the current robot pose, all the poses in the auxiliary graph, and each of the areas they belong to. </p>
<p>The metric maps are *not* included here for convenience, call m_metricMaps.getAs3DScene(). The previous contents of "objs" will be discarded </p>
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<a class="anchor" id="a1e6d76874e063f203e15e37c1c1181d4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose" ref="a1e6d76874e063f203e15e37c1c1181d4" args="(const size_t &particleIdx)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>* mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose </td>
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<td class="paramtype">const size_t & </td>
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<p>Returns the i'th particle hypothesis for the current robot pose. </p>
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<a class="anchor" id="a46e638e17923e4edd02c82032d928a1f"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose" ref="a46e638e17923e4edd02c82032d928a1f" args="(const size_t &particleIdx) const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>* mrpt::hmtslam::CLocalMetricHypothesis::getCurrentPose </td>
<td>(</td>
<td class="paramtype">const size_t & </td>
<td class="paramname"> <em>particleIdx</em> )</td>
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<p>Returns the i'th particle hypothesis for the current robot pose. </p>
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<a class="anchor" id="a900ef425bec6c5c83e76b966e91791e4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getMeans" ref="a900ef425bec6c5c83e76b966e91791e4" args="(std::map< TPoseID, CPose3D > &outList) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getMeans </td>
<td>(</td>
<td class="paramtype">std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> > & </td>
<td class="paramname"> <em>outList</em> )</td>
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<p>Returns the mean of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPathParticles</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ab7bb93d7896dae88dfb3bce6583a8cda" title="Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH)...">getRelativePose</a> </dd></dl>
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<a class="anchor" id="a4ba3c721e2267263ffdc71fc135eb51c"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getPathParticles" ref="a4ba3c721e2267263ffdc71fc135eb51c" args="(std::map< TPoseID, CPose3DPDFParticles > &outList) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getPathParticles </td>
<td>(</td>
<td class="paramtype">std::map< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> > & </td>
<td class="paramname"> <em>outList</em> )</td>
<td> const</td>
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<p>Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPoseParticles</a> </dd></dl>
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<a class="anchor" id="afa8b95e48dd493f10d7be8bfe15b8237"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles" ref="afa8b95e48dd493f10d7be8bfe15b8237" args="(const TPoseID &poseID, CPose3DPDFParticles &outPDF) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getPoseParticles </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"> <em>poseID</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"> <em>outPDF</em> </td>
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<p>Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a4ba3c721e2267263ffdc71fc135eb51c" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPathParticles</a> </dd></dl>
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<a class="anchor" id="ab7bb93d7896dae88dfb3bce6583a8cda"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose" ref="ab7bb93d7896dae88dfb3bce6583a8cda" args="(const TPoseID &reference, const TPoseID &pose, CPose3DPDFParticles &outPDF) const " -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::getRelativePose </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"> <em>reference</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> & </td>
<td class="paramname"> <em>pose</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"> <em>outPDF</em> </td>
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<p>Returns the pose PDF of some pose relative to some other pose ID (both must be part of the the LMH). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a900ef425bec6c5c83e76b966e91791e4" title="Returns the mean of each robot pose in this LMH, as computed from the set of particles.">getMeans</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#afa8b95e48dd493f10d7be8bfe15b8237" title="Returns the mean and covariance of each robot pose in this LMH, as computed from the set of particles...">getPoseParticles</a> </dd></dl>
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<a class="anchor" id="ab0a19d848da91ea2ce401e6436f21862"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass" ref="ab0a19d848da91ea2ce401e6436f21862" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::hmtslam::CLocalMetricHypothesis::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"> )</td>
<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a78b180315cc2053366ffc323d70c47d3"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal" ref="a78b180315cc2053366ffc323d70c47d3" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfAuxiliaryPFOptimal </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"> <em>action</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"> <em>observation</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"> <em>PF_options</em> </td>
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<p>The PF algorithm implementation. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a0ff4807b7f76022508be551a47fdfb4a"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal" ref="a0ff4807b7f76022508be551a47fdfb4a" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::prediction_and_update_pfOptimalProposal </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"> <em>action</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"> <em>observation</em>, </td>
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<td class="paramname"> <em>PF_options</em> </td>
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<p>The PF algorithm implementation. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911">mrpt::bayes::CParticleFilterCapable</a>.</p>
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<a class="anchor" id="a22552cd4b0cb997f5c49db70747270d4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::rebuildMetricMaps" ref="a22552cd4b0cb997f5c49db70747270d4" args="()" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::rebuildMetricMaps </td>
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<p>Rebuild the metric maps of all particles from the observations and their estimated poses. </p>
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<a class="anchor" id="a89cceed13077158b256d7e466dace4b4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::removeAreaFromLMH" ref="a89cceed13077158b256d7e466dace4b4" args="(const CHMHMapNode::TNodeID areaID)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::removeAreaFromLMH </td>
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<p>Removes a given area from the LMH:</p>
<ul>
<li>The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH. </li>
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<ul>
<li>Robot poses belonging to that area are removed from:<ul>
<li>the particles.</li>
<li>the graph partitioner.</li>
<li>the list of SFs.</li>
<li>the list m_nodeIDmemberships.</li>
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</li>
<li>m_neighbors is updated.</li>
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<p>The weights of all particles are changed to remove the effects of the removed metric observations.</p>
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<li>After calling this the metric maps should be updated.</li>
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<p>This method internally calls updateAreaFromLMH </p>
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<a class="anchor" id="ac267ba60aa7a869d06c632a2a0550677"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH" ref="ac267ba60aa7a869d06c632a2a0550677" args="(const CHMHMapNode::TNodeID areaID, bool eraseSFsFromLMH=false)" -->
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<td class="memname">void mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH </td>
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<p>The corresponding node in the HMT map is updated with the robot poses & SFs in the LMH: the poses are referenced to the area's reference poseID, such as that reference is at the origin. </p>
<p>If eraseSFsFromLMH=true, the sensoryframes are moved rather than copied to the area, and removed from the LMH. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>The critical section m_map_cs is locked internally, unlock it before calling this. </dd></dl>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="ac34a721ee598515baa4048b339f41013"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::CLSLAM_RBPF_2DLASER" ref="ac34a721ee598515baa4048b339f41013" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html">CLSLAM_RBPF_2DLASER</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00096">96</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aec8abd058803e0bf4f3298a4412981f2"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::_init_CLocalMetricHypothesis" ref="aec8abd058803e0bf4f3298a4412981f2" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aec8abd058803e0bf4f3298a4412981f2">mrpt::hmtslam::CLocalMetricHypothesis::_init_CLocalMetricHypothesis</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00099">99</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a11ea61f54e94e408b5279ea8a785b3f4"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classCLocalMetricHypothesis" ref="a11ea61f54e94e408b5279ea8a785b3f4" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a11ea61f54e94e408b5279ea8a785b3f4">mrpt::hmtslam::CLocalMetricHypothesis::classCLocalMetricHypothesis</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00099">99</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a400f9847442c0e95615c9c0382d7d606"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::classinfo" ref="a400f9847442c0e95615c9c0382d7d606" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a400f9847442c0e95615c9c0382d7d606">mrpt::hmtslam::CLocalMetricHypothesis::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00099">99</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1683692cc38d5b813b5dcf35aabecf3d">mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovement</a></td>
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<p>Used in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00125">125</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">bool <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8ed7c3c48ce94c1310a19a59adde5b38">mrpt::hmtslam::CLocalMetricHypothesis::m_accumRobotMovementIsValid</a></td>
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<p>Used in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html" title="Implements a 2D local SLAM method based on a RBPF over an occupancy grid map.">CLSLAM_RBPF_2DLASER</a>. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00126">126</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1list__searchable.html">TNodeIDList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a1baff49d6df7e31ad47308f9d4dcf411">mrpt::hmtslam::CLocalMetricHypothesis::m_areasPendingTBI</a></td>
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<p>The list of area IDs waiting to be processed by the TBI (topological bayesian inference) engines to search for potential loop-closures. Set in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a162ff392270839bc8c37a771308ac820" title="No critical section locks are assumed at the entrance of this method.">CHMTSLAM::LSLAM_process_message_from_AA</a>, read in. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00119">119</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ae2172d3ffdfeeefe6183f6dca598f960">mrpt::hmtslam::CLocalMetricHypothesis::m_currentRobotPose</a></td>
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<p>The current robot pose (its global unique ID) for this hypothesis. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00113">113</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a559c9d5b9fcc9325ecd95f722fbe682f">mrpt::hmtslam::CLocalMetricHypothesis::m_ID</a></td>
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<p>The unique ID of the hypothesis (Used for accessing mrpt::slam::CHierarchicalMHMap). </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00111">111</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a3fca93101fbbd36f8542deb960231f53"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_lock" ref="a3fca93101fbbd36f8542deb960231f53" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1synch_1_1_c_critical_section.html">synch::CCriticalSection</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3fca93101fbbd36f8542deb960231f53">mrpt::hmtslam::CLocalMetricHypothesis::m_lock</a></td>
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<p>Critical section for threads signaling they are working with the LMH. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00110">110</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">double <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3b7c38915660b84a3b3de6a80b5b4d97">mrpt::hmtslam::CLocalMetricHypothesis::m_log_w</a></td>
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<p>Log-weight of this hypothesis. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00121">121</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">std::vector<std::map<<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>,double> > <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adcde7731917b103e6e4b460c1627b215">mrpt::hmtslam::CLocalMetricHypothesis::m_log_w_metric_history</a></td>
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<p>The historic log-weights of the metric observations inserted in this LMH, for each particle. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00122">122</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a8fabfc4450cff62dfe7a46394238dac2"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood" ref="a8fabfc4450cff62dfe7a46394238dac2" args="" -->
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<td class="memname">std::vector<double> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a8fabfc4450cff62dfe7a46394238dac2">mrpt::hmtslam::CLocalMetricHypothesis::m_maxLikelihood</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00243">243</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt_1_1poses.html#ab321f17adba329f3e24d41d533408739">StdVector_CPose2D</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#aed755bb8891d2a1dcd96e0b2a17e7db0">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawMaximumLikelihood</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00255">255</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">std::vector<CPose2D,Eigen::aligned_allocator<CPose2D> > <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adb3d4f2b5e1ab97d40b9bad40e9a657f">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDraws</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00247">247</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">unsigned int <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#adf3b8099493296b90d5d8e7ffec620da">mrpt::hmtslam::CLocalMetricHypothesis::m_movementDrawsIdx</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00251">251</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="a7bda1e6774884134f9b34d220eccd5df"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors" ref="a7bda1e6774884134f9b34d220eccd5df" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a7bda1e6774884134f9b34d220eccd5df">mrpt::hmtslam::CLocalMetricHypothesis::m_neighbors</a></td>
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<p>The list of all areas sourronding the current one (this includes the current area itself). </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00115">115</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="ad7adc8d8a5e7a04334a50558b051aa15"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships" ref="ad7adc8d8a5e7a04334a50558b051aa15" args="" -->
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<td class="memname">std::map<<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>,<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ad7adc8d8a5e7a04334a50558b051aa15">mrpt::hmtslam::CLocalMetricHypothesis::m_nodeIDmemberships</a></td>
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<p>The hybrid map node membership for each robot pose. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00116">116</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="acb6413f6bc48d29770cc179eab5ee0a3"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_parent" ref="acb6413f6bc48d29770cc179eab5ee0a3" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1safe__ptr.html">safe_ptr</a><<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#acb6413f6bc48d29770cc179eab5ee0a3">mrpt::hmtslam::CLocalMetricHypothesis::m_parent</a></td>
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<p>For quick access to our parent object. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00112">112</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1dynamicsize__vector.html">vector_double</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#abc11654124437b1de2c11f11b6d4de42">mrpt::hmtslam::CLocalMetricHypothesis::m_pfAuxiliaryPFOptimal_estimatedProb</a><code> [mutable, protected]</code></td>
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<p>Auxiliary variable used in the "pfAuxiliaryPFOptimal" algorithm. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00239">239</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<a class="anchor" id="af701aeb4da0c4c13ae8e288e92389ccf"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner" ref="af701aeb4da0c4c13ae8e288e92389ccf" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">TPoseIDList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#af701aeb4da0c4c13ae8e288e92389ccf">mrpt::hmtslam::CLocalMetricHypothesis::m_posesPendingAddPartitioner</a></td>
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<p>The list of poseIDs waiting to be added to the graph partitioner, what happens in the LSLAM thread main loop. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00118">118</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<td class="memname">struct <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_1_1_t_robot_poses_partitioning.html">mrpt::hmtslam::CLocalMetricHypothesis::TRobotPosesPartitioning</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a3f3981f549cb1cef110fc034bd3bea8f">mrpt::hmtslam::CLocalMetricHypothesis::m_robotPosesGraph</a></td>
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<a class="anchor" id="a9a921aef54b49bab62dc18e20913f44e"></a><!-- doxytag: member="mrpt::hmtslam::CLocalMetricHypothesis::m_SFs" ref="a9a921aef54b49bab62dc18e20913f44e" args="" -->
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<td class="memname">std::map<<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>,<a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a>> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a9a921aef54b49bab62dc18e20913f44e">mrpt::hmtslam::CLocalMetricHypothesis::m_SFs</a></td>
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<p>The SF gathered at each robot pose. </p>
<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00117">117</a> of file <a class="el" href="_c_local_metric_hypothesis_8h_source.html">CLocalMetricHypothesis.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.2</a> for MRPT 0.9.4 SVN: at Mon Jan 10 22:30:30 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
