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<div class="title">mrpt::hmtslam Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__hmtslam__grp.html">[mrpt-hmtslam]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM. </p>
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html">CHierarchicalMapMHPartition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#details">More...</a><br/></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_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html">CHierarchicalMHMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. <a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html#details">More...</a><br/></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_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for representing a node in a hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#details">More...</a><br/></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_h_m_t_s_l_a_m_ptr.html">CHMTSLAMPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). <a href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html">CLSLAMAlgorithmBase</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. <a href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_algorithm_base.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><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></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. <a href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m___r_b_p_f__2_d_l_a_s_e_r.html#details">More...</a><br/></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_l_s_l_a_m_particle_data_ptr.html">CLSLAMParticleDataPtr</a></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_ptr.html">CLocalMetricHypothesisPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html">CLSLAMParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). <a href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html">CLocalMetricHypothesis</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). <a href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#details">More...</a><br/></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_t_pose_info.html">TPoseInfo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Information kept for each robot pose used in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html" title="Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...">CRobotPosesGraph</a>. <a href="structmrpt_1_1hmtslam_1_1_t_pose_info.html#details">More...</a><br/></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_robot_poses_graph_ptr.html">CRobotPosesGraphPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html">CRobotPosesGraph</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH. <a href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html">CTopLCDetector_FabMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching.html">CTopLCDetector_GridMatching</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">CTopLCDetectorBase</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. <a href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#details">More...</a><br/></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_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a></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_t_hypothesis_i_d_set_ptr.html">THypothesisIDSetPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html">THypothesisIDSet</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. <a href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for storing a sequence of arcs (a path). <a href="classmrpt_1_1hmtslam_1_1_t_arc_list.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40">TNodeList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A map between node IDs and nodes (used in HMT-SLAM). <a href="#a04795d80cac41d58249a613e7f3c4f40"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classmrpt_1_1utils_1_1list__searchable.html">list_searchable</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="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">TNodeIDList</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1set.html">std::set</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="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair<br class="typebreak"/>
< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</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="namespacemrpt_1_1hmtslam.html#a416a0ed6fd6d43024641067ef316f7f2">TPairNodeIDs</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstlplus_1_1smart__ptr.html">stlplus::smart_ptr</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">CTopLCDetectorBase</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a4df47595cf995faeb08b66704d80a60a">CTopLCDetectorBasePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef int64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. <a href="#a6a8c7a5cb874400f4df9d1fd6b6ff9ee"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An integer number uniquely identifying each robot pose stored in HMT-SLAM. <a href="#afc45e3c745da87655acd25af131343bf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>, <br class="typebreak"/>
<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#ae54e83b02cfeaf9273a3381601f1b08f">TPairPoseIDs</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">TPoseIDList</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#ab6a024810edb5715699a8511cd2efcfd">TPoseIDSet</a></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a1620b6896bd1994347166e9563cc2a2d">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#aaa2e77e4ce967f3b8d11309f1ad70ce1">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a4e1f9e4e5e9c37ec59376b021b9e972b">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_ptr.html">CHMTSLAMPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a62ecfea3eef06c518dc9c3ee39698cb5">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data_ptr.html">CLSLAMParticleDataPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a89b5c9656599351d4db7e00262d68793">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis_ptr.html">CLocalMetricHypothesisPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a5d9ab5fd2bd4df1cc93d911e01ec3e3a">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_robot_poses_graph_ptr.html">CRobotPosesGraphPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a9c70f6e1d1c8c0002836201903cf0338">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a7f42149a6378734473601ed84843b73d">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set_ptr.html">THypothesisIDSetPtr</a> &pObj)</td></tr>
<tr><td colspan="2"><h2><a name="var-members"></a>
Variables</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a03ca95eaf76e1ec7fa482fe49968001f">CHierarchicalMHMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a22d9940d4ab49be27c1e0cf5f943a91a">CHMHMapArc</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a3cbc1dce012698b238004879011b8cee">CHMTSLAM</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#af179dabf4c97d4b2e3a4c1b711e6a943">CLSLAM_RBPF_2DLASER</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class HMTSLAM_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#ae9f8b997635ea8af2e6c14518ceaf769">CHMHMapNode</a></td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="a4df47595cf995faeb08b66704d80a60a"></a><!-- doxytag: member="mrpt::hmtslam::CTopLCDetectorBasePtr" ref="a4df47595cf995faeb08b66704d80a60a" args="" -->
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<td class="memname">typedef <a class="el" href="classstlplus_1_1smart__ptr.html">stlplus::smart_ptr</a><<a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">CTopLCDetectorBase</a>> <a class="el" href="namespacemrpt_1_1hmtslam.html#a4df47595cf995faeb08b66704d80a60a">mrpt::hmtslam::CTopLCDetectorBasePtr</a></td>
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<p>Definition at line <a class="el" href="_c_top_l_c_detector_base_8h_source.html#l00104">104</a> of file <a class="el" href="_c_top_l_c_detector_base_8h_source.html">CTopLCDetectorBase.h</a>.</p>
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<a class="anchor" id="a6a8c7a5cb874400f4df9d1fd6b6ff9ee"></a><!-- doxytag: member="mrpt::hmtslam::THypothesisID" ref="a6a8c7a5cb874400f4df9d1fd6b6ff9ee" args="" -->
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<td class="memname">typedef int64_t <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">mrpt::hmtslam::THypothesisID</a></td>
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<p>An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM. </p>
<p>The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree". They can be generated from <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a59a6981dce01f2fc1be68fda1bd6894c" title="Generates a new and unique hypothesis ID.">CHMTSLAM::generateHypothesisID()</a> </p>
<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00081">81</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<a class="anchor" id="af24315db2125723962f15ddf815ca4cd"></a><!-- doxytag: member="mrpt::hmtslam::TNodeIDList" ref="af24315db2125723962f15ddf815ca4cd" args="" -->
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<td class="memname">typedef <a class="el" href="classmrpt_1_1utils_1_1list__searchable.html">list_searchable</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="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">mrpt::hmtslam::TNodeIDList</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_h_map_node_8h_source.html#l00169">169</a> of file <a class="el" href="_c_h_m_h_map_node_8h_source.html">CHMHMapNode.h</a>.</p>
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<a class="anchor" id="a5bcc3f9cba9de3b8239a394d63c3ce66"></a><!-- doxytag: member="mrpt::hmtslam::TNodeIDSet" ref="a5bcc3f9cba9de3b8239a394d63c3ce66" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1set.html">std::set</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="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">mrpt::hmtslam::TNodeIDSet</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_h_map_node_8h_source.html#l00170">170</a> of file <a class="el" href="_c_h_m_h_map_node_8h_source.html">CHMHMapNode.h</a>.</p>
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<a class="anchor" id="a04795d80cac41d58249a613e7f3c4f40"></a><!-- doxytag: member="mrpt::hmtslam::TNodeList" ref="a04795d80cac41d58249a613e7f3c4f40" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1map.html">std::map</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="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a>> <a class="el" href="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40">mrpt::hmtslam::TNodeList</a></td>
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<p>A map between node IDs and nodes (used in HMT-SLAM). </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> </dd></dl>
<p>Definition at line <a class="el" href="_c_h_m_h_map_node_8h_source.html#l00168">168</a> of file <a class="el" href="_c_h_m_h_map_node_8h_source.html">CHMHMapNode.h</a>.</p>
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<a class="anchor" id="a416a0ed6fd6d43024641067ef316f7f2"></a><!-- doxytag: member="mrpt::hmtslam::TPairNodeIDs" ref="a416a0ed6fd6d43024641067ef316f7f2" args="" -->
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<td class="memname">typedef std::pair<<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_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a>> <a class="el" href="namespacemrpt_1_1utils.html#aee71d7beb4d61406566af3847410d0e4">mrpt::hmtslam::TPairNodeIDs</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_h_map_node_8h_source.html#l00171">171</a> of file <a class="el" href="_c_h_m_h_map_node_8h_source.html">CHMHMapNode.h</a>.</p>
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<a class="anchor" id="ae54e83b02cfeaf9273a3381601f1b08f"></a><!-- doxytag: member="mrpt::hmtslam::TPairPoseIDs" ref="ae54e83b02cfeaf9273a3381601f1b08f" args="" -->
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<td class="memname">typedef std::pair<<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>,<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>> <a class="el" href="namespacemrpt_1_1hmtslam.html#ae54e83b02cfeaf9273a3381601f1b08f">mrpt::hmtslam::TPairPoseIDs</a></td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00088">88</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<a class="anchor" id="afc45e3c745da87655acd25af131343bf"></a><!-- doxytag: member="mrpt::hmtslam::TPoseID" ref="afc45e3c745da87655acd25af131343bf" args="" -->
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<td class="memname">typedef uint64_t <a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">mrpt::hmtslam::TPoseID</a></td>
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<p>An integer number uniquely identifying each robot pose stored in HMT-SLAM. </p>
<p>They can be generated from <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#a81f2c34f2933f07782261900ec4a08d2" title="Generates a new and unique pose ID.">CHMTSLAM::generatePoseID()</a> </p>
<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00086">86</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<a class="anchor" id="aab03d6a98830912eb1b9397f12a1adbc"></a><!-- doxytag: member="mrpt::hmtslam::TPoseIDList" ref="aab03d6a98830912eb1b9397f12a1adbc" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>> <a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">mrpt::hmtslam::TPoseIDList</a></td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00090">90</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<a class="anchor" id="ab6a024810edb5715699a8511cd2efcfd"></a><!-- doxytag: member="mrpt::hmtslam::TPoseIDSet" ref="ab6a024810edb5715699a8511cd2efcfd" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1set.html">std::set</a><<a class="el" href="namespacemrpt_1_1hmtslam.html#afc45e3c745da87655acd25af131343bf">TPoseID</a>> <a class="el" href="namespacemrpt_1_1hmtslam.html#ab6a024810edb5715699a8511cd2efcfd">mrpt::hmtslam::TPoseIDSet</a></td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00091">91</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a1620b6896bd1994347166e9563cc2a2d"></a><!-- doxytag: member="mrpt::hmtslam::operator>>" ref="a1620b6896bd1994347166e9563cc2a2d" args="(mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj)" -->
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<td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::hmtslam::operator>> </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
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<td class="paramtype">CHMHMapArcPtr & </td>
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<td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::hmtslam::operator>> </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
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<hr/><h2>Variable Documentation</h2>
<a class="anchor" id="a03ca95eaf76e1ec7fa482fe49968001f"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap" ref="a03ca95eaf76e1ec7fa482fe49968001f" args="" -->
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<td class="memname">class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html">mrpt::hmtslam::CHierarchicalMHMap</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_h_map_arc_8h_source.html#l00040">40</a> of file <a class="el" href="_c_h_m_h_map_arc_8h_source.html">CHMHMapArc.h</a>.</p>
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<a class="anchor" id="a22d9940d4ab49be27c1e0cf5f943a91a"></a><!-- doxytag: member="mrpt::hmtslam::CHMHMapArc" ref="a22d9940d4ab49be27c1e0cf5f943a91a" args="" -->
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<td class="memname">class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">mrpt::hmtslam::CHMHMapArc</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_h_map_node_8h_source.html#l00047">47</a> of file <a class="el" href="_c_h_m_h_map_node_8h_source.html">CHMHMapNode.h</a>.</p>
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<a class="anchor" id="ae9f8b997635ea8af2e6c14518ceaf769"></a><!-- doxytag: member="mrpt::hmtslam::CHMHMapNode" ref="ae9f8b997635ea8af2e6c14518ceaf769" args="" -->
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<td class="memname">class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">mrpt::hmtslam::CHMHMapNode</a></td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00072">72</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
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<a class="anchor" id="a3cbc1dce012698b238004879011b8cee"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM" ref="a3cbc1dce012698b238004879011b8cee" args="" -->
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<td class="memname">class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">mrpt::hmtslam::CHMTSLAM</a></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00058">58</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="af179dabf4c97d4b2e3a4c1b711e6a943"></a><!-- doxytag: member="mrpt::hmtslam::CLSLAM_RBPF_2DLASER" ref="af179dabf4c97d4b2e3a4c1b711e6a943" args="" -->
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<td class="memname">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">mrpt::hmtslam::CLSLAM_RBPF_2DLASER</a></td>
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<p>Definition at line <a class="el" href="_c_local_metric_hypothesis_8h_source.html#l00059">59</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 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
