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<a href="#pub-methods">Public Member Functions</a> &#124;
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<h1>mrpt::slam::CRBPFParticleData Class Reference</h1>  </div>
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<!-- doxytag: class="mrpt::slam::CRBPFParticleData" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Auxiliary class used in <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html" title="Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (T...">mrpt::slam::CMultiMetricMapPDF</a>. </p>

<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00054">54</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

<p><code>#include &lt;<a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">mrpt/slam/CMultiMetricMapPDF.h</a>&gt;</code></p>
<!-- startSectionHeader --><div class="dynheader">
Inheritance diagram for mrpt::slam::CRBPFParticleData:<!-- endSectionHeader --></div>
<!-- startSectionSummary --><!-- endSectionSummary --><!-- startSectionContent --><div class="dyncontent">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_r_b_p_f_particle_data_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_r_b_p_f_particle_data_inherit__map" id="mrpt_1_1slam_1_1_c_r_b_p_f_particle_data_inherit__map">
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<p><a href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a6c9c3578ac75cb8d5b075c5f9617dc9d">CRBPFParticleData</a> (const <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> *mapsInitializers=NULL)</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_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a2980c39d040437d4a1cce136f59efd9b">mapTillNow</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::deque&lt; <a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#af61bbcd58ff4ac61f1516bcf638ee9ae">robotPath</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_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a59e40d926fc23a84d7652db0fab7d2a7">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>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#ab44a8fdef774bb3c1f040053b5a2ac81">_init_CRBPFParticleData</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>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a0d6ae25810afde0cd6f612586e05fdfa">classCRBPFParticleData</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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a58cf1ec5a58a8651bb6bfbc8c520d0df">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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a35a6f692dbcf2dc07703995d45ed2fa0">_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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a2b8e744866982aeacf822acecceaf6b0">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns information about the class of an object in runtime.  <a href="#a2b8e744866982aeacf822acecceaf6b0"></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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a5bcc1c02aed4050434ed55b74f2ff650">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns a copy of the object, indepently of its class.  <a href="#a5bcc1c02aed4050434ed55b74f2ff650"></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> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a299d7bca7261fbe40b678df574d288bd">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#aeda4fd9df6592ce95155aa9fe3eb6414">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a59e40d926fc23a84d7652db0fab7d2a7"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::SmartPtr" ref="a59e40d926fc23a84d7652db0fab7d2a7" args="" -->
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          <td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a> <a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">mrpt::slam::CRBPFParticleData::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_multi_metric_map_p_d_f_8h_source.html#l00057">57</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a6c9c3578ac75cb8d5b075c5f9617dc9d"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::CRBPFParticleData" ref="a6c9c3578ac75cb8d5b075c5f9617dc9d" args="(const TSetOfMetricMapInitializers *mapsInitializers=NULL)" -->
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          <td class="memname">mrpt::slam::CRBPFParticleData::CRBPFParticleData </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> *&#160;</td>
          <td class="paramname"> <em>mapsInitializers</em> = <code>NULL</code>&#160;)</td>
          <td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00059">59</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a35a6f692dbcf2dc07703995d45ed2fa0"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::_GetBaseClass" ref="a35a6f692dbcf2dc07703995d45ed2fa0" 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::slam::CRBPFParticleData::_GetBaseClass </td>
          <td>(</td>
          <td class="paramname">&#160;)</td>
          <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="aeda4fd9df6592ce95155aa9fe3eb6414"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::Create" ref="aeda4fd9df6592ce95155aa9fe3eb6414" args="()" -->
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          <td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_r_b_p_f_particle_data_ptr.html">CRBPFParticleDataPtr</a> mrpt::slam::CRBPFParticleData::Create </td>
          <td>(</td>
          <td class="paramname">&#160;)</td>
          <td><code> [static]</code></td>
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<a class="anchor" id="a299d7bca7261fbe40b678df574d288bd"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::CreateObject" ref="a299d7bca7261fbe40b678df574d288bd" args="()" -->
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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::slam::CRBPFParticleData::CreateObject </td>
          <td>(</td>
          <td class="paramname">&#160;)</td>
          <td><code> [static]</code></td>
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<a class="anchor" id="a5bcc1c02aed4050434ed55b74f2ff650"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::duplicate" ref="a5bcc1c02aed4050434ed55b74f2ff650" 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::slam::CRBPFParticleData::duplicate </td>
          <td>(</td>
          <td class="paramname">&#160;)</td>
          <td> const<code> [virtual]</code></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="a2b8e744866982aeacf822acecceaf6b0"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::GetRuntimeClass" ref="a2b8e744866982aeacf822acecceaf6b0" 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::slam::CRBPFParticleData::GetRuntimeClass </td>
          <td>(</td>
          <td class="paramname">&#160;)</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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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ab44a8fdef774bb3c1f040053b5a2ac81"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::_init_CRBPFParticleData" ref="ab44a8fdef774bb3c1f040053b5a2ac81" 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_1slam_1_1_c_r_b_p_f_particle_data.html#ab44a8fdef774bb3c1f040053b5a2ac81">mrpt::slam::CRBPFParticleData::_init_CRBPFParticleData</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00057">57</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<a class="anchor" id="a0d6ae25810afde0cd6f612586e05fdfa"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::classCRBPFParticleData" ref="a0d6ae25810afde0cd6f612586e05fdfa" 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_1slam_1_1_c_r_b_p_f_particle_data.html#a0d6ae25810afde0cd6f612586e05fdfa">mrpt::slam::CRBPFParticleData::classCRBPFParticleData</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00057">57</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<a class="anchor" id="a58cf1ec5a58a8651bb6bfbc8c520d0df"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::classinfo" ref="a58cf1ec5a58a8651bb6bfbc8c520d0df" 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_1slam_1_1_c_r_b_p_f_particle_data.html#a58cf1ec5a58a8651bb6bfbc8c520d0df">mrpt::slam::CRBPFParticleData::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00057">57</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<a class="anchor" id="a2980c39d040437d4a1cce136f59efd9b"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::mapTillNow" ref="a2980c39d040437d4a1cce136f59efd9b" args="" -->
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          <td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">CMultiMetricMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a2980c39d040437d4a1cce136f59efd9b">mrpt::slam::CRBPFParticleData::mapTillNow</a></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00065">65</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>

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<a class="anchor" id="af61bbcd58ff4ac61f1516bcf638ee9ae"></a><!-- doxytag: member="mrpt::slam::CRBPFParticleData::robotPath" ref="af61bbcd58ff4ac61f1516bcf638ee9ae" args="" -->
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          <td class="memname">std::deque&lt;<a class="el" href="structmrpt_1_1math_1_1_t_pose3_d.html">TPose3D</a>&gt; <a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#af61bbcd58ff4ac61f1516bcf638ee9ae">mrpt::slam::CRBPFParticleData::robotPath</a></td>
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