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<div class="title">HMT_SLAM_common.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="_c_serializable_8h_source.html">mrpt/utils/CSerializable.h</a>></code><br/>
<code>#include <<a class="el" href="stl__extensions_8h_source.html">mrpt/utils/stl_extensions.h</a>></code><br/>
<code>#include <<a class="el" href="hmtslam_2include_2mrpt_2hmtslam_2link__pragmas_8h_source.html">mrpt/hmtslam/link_pragmas.h</a>></code><br/>
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Include dependency graph for HMT_SLAM_common.h:</div>
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<p><a href="_h_m_t___s_l_a_m__common_8h_source.html">Go to the source code of this file.</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_h_m_h_map_arc_ptr.html">mrpt::hmtslam::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">mrpt::hmtslam::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">mrpt::hmtslam::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">mrpt::hmtslam::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="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
<br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html">mrpt::hmtslam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a4dc99531559293eb29d66c3fc224575d">COMMON_TOPOLOG_HYP</a>   static_cast<THypothesisID>(0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a01bea30407d99cbd2b472f803be96167">NODE_ANNOTATION_METRIC_MAPS</a>   "metricMaps"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a3cfbcf8b8a13130e556d9f27e12d1c7f">NODE_ANNOTATION_REF_POSEID</a>   "refPoseID"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#ad51590571a5a9c1eee159d22726e64c0">NODE_ANNOTATION_POSES_GRAPH</a>   "posesGraph"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a65c9d970273d9be6309543273cd7f3e6">NODE_ANNOTATION_PLACE_POSE</a>   "placePose"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a172ad02b573d0a19d8a32f3481bcecfe">ARC_ANNOTATION_DELTA</a>   "Delta"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#ad5574667e459174b5b7db9c67d9cc0e1">ARC_ANNOTATION_DELTA_SRC_POSEID</a>   "Delta_poseID_src"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#ad45fe347991f38c5a6cf63a0488761fc">ARC_ANNOTATION_DELTA_TRG_POSEID</a>   "Delta_poseID_trg"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a91094a4acea7e7e33c324c9b227cc2f0">ARC_TYPES</a>   "Membership,Navegability,RelativePose,Location"</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in constructor of <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">mrpt::hmtslam::CHMHMapArc</a>. <a href="#a91094a4acea7e7e33c324c9b227cc2f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#ad63793822556aa8b241964a193c6d67f">DEFAULT_ARC_TYPE</a>   "Membership"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#addfcc02678efd8a54e4923e27cd7072f">NODE_TYPES</a>   "Place,Area,TopologicalMap,Object"</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in constructor of <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">mrpt::hmtslam::CHMHMapNode</a>. <a href="#addfcc02678efd8a54e4923e27cd7072f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a819bf0fad617a6e533498dcfc3e4d89a">DEFAULT_NODE_TYPE</a>   "Place"</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a3204c6c2fbf629bfc03549a1613e7c1d">POSEID_INVALID</a>   static_cast<TPoseID>(-1)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a8990c93a10583afbfb1d108f7aadec13">AREAID_INVALID</a>   static_cast<uint64_t>(-1)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a802c917ed9a39cce973a4cb35f5d7813">MSG_SOURCE_LSLAM</a>   1</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="_h_m_t___s_l_a_m__common_8h.html#a2c1be000415e4a7ff9d7c346e342defe">MSG_SOURCE_AA</a>   2</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 int64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">mrpt::hmtslam::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">mrpt::hmtslam::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< TPoseID, <br class="typebreak"/>
TPoseID > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#ae54e83b02cfeaf9273a3381601f1b08f">mrpt::hmtslam::TPairPoseIDs</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a>< TPoseID > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#aab03d6a98830912eb1b9397f12a1adbc">mrpt::hmtslam::TPoseIDList</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1set.html">std::set</a>< TPoseID > </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html#ab6a024810edb5715699a8511cd2efcfd">mrpt::hmtslam::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#a9c70f6e1d1c8c0002836201903cf0338">mrpt::hmtslam::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CHMHMapArcPtr &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">mrpt::hmtslam::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, THypothesisIDSetPtr &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#ae9f8b997635ea8af2e6c14518ceaf769">mrpt::hmtslam::CHMHMapNode</a></td></tr>
</table>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a172ad02b573d0a19d8a32f3481bcecfe"></a><!-- doxytag: member="HMT_SLAM_common.h::ARC_ANNOTATION_DELTA" ref="a172ad02b573d0a19d8a32f3481bcecfe" args="" -->
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<td class="memname">#define ARC_ANNOTATION_DELTA   "Delta"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00045">45</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="ad5574667e459174b5b7db9c67d9cc0e1"></a><!-- doxytag: member="HMT_SLAM_common.h::ARC_ANNOTATION_DELTA_SRC_POSEID" ref="ad5574667e459174b5b7db9c67d9cc0e1" args="" -->
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<td class="memname">#define ARC_ANNOTATION_DELTA_SRC_POSEID   "Delta_poseID_src"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00046">46</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="ad45fe347991f38c5a6cf63a0488761fc"></a><!-- doxytag: member="HMT_SLAM_common.h::ARC_ANNOTATION_DELTA_TRG_POSEID" ref="ad45fe347991f38c5a6cf63a0488761fc" args="" -->
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<td class="memname">#define ARC_ANNOTATION_DELTA_TRG_POSEID   "Delta_poseID_trg"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00047">47</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="a91094a4acea7e7e33c324c9b227cc2f0"></a><!-- doxytag: member="HMT_SLAM_common.h::ARC_TYPES" ref="a91094a4acea7e7e33c324c9b227cc2f0" args="" -->
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<td class="memname">#define ARC_TYPES   "Membership,Navegability,RelativePose,Location"</td>
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<p>Used in constructor of <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">mrpt::hmtslam::CHMHMapArc</a>. </p>
<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00050">50</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="a8990c93a10583afbfb1d108f7aadec13"></a><!-- doxytag: member="HMT_SLAM_common.h::AREAID_INVALID" ref="a8990c93a10583afbfb1d108f7aadec13" args="" -->
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<td class="memname">#define AREAID_INVALID   static_cast<uint64_t>(-1)</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00060">60</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
<p>Referenced by <a class="el" href="_c_h_m_h_map_arc_8h_source.html#l00121">mrpt::hmtslam::CHMHMapArc::getNodeFrom()</a>, and <a class="el" href="_c_h_m_h_map_arc_8h_source.html#l00125">mrpt::hmtslam::CHMHMapArc::getNodeTo()</a>.</p>
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<a class="anchor" id="a4dc99531559293eb29d66c3fc224575d"></a><!-- doxytag: member="HMT_SLAM_common.h::COMMON_TOPOLOG_HYP" ref="a4dc99531559293eb29d66c3fc224575d" args="" -->
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<td class="memname">#define COMMON_TOPOLOG_HYP   static_cast<THypothesisID>(0)</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00037">37</a> of file <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html">HMT_SLAM_common.h</a>.</p>
<p>Referenced by <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00124">mrpt::hmtslam::THypothesisIDSet::has()</a>.</p>
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<a class="anchor" id="ad63793822556aa8b241964a193c6d67f"></a><!-- doxytag: member="HMT_SLAM_common.h::DEFAULT_ARC_TYPE" ref="ad63793822556aa8b241964a193c6d67f" args="" -->
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<td class="memname">#define DEFAULT_ARC_TYPE   "Membership"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00051">51</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="a819bf0fad617a6e533498dcfc3e4d89a"></a><!-- doxytag: member="HMT_SLAM_common.h::DEFAULT_NODE_TYPE" ref="a819bf0fad617a6e533498dcfc3e4d89a" args="" -->
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<td class="memname">#define DEFAULT_NODE_TYPE   "Place"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00055">55</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="a2c1be000415e4a7ff9d7c346e342defe"></a><!-- doxytag: member="HMT_SLAM_common.h::MSG_SOURCE_AA" ref="a2c1be000415e4a7ff9d7c346e342defe" args="" -->
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<td class="memname">#define MSG_SOURCE_AA   2</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00063">63</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="a802c917ed9a39cce973a4cb35f5d7813"></a><!-- doxytag: member="HMT_SLAM_common.h::MSG_SOURCE_LSLAM" ref="a802c917ed9a39cce973a4cb35f5d7813" args="" -->
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<td class="memname">#define MSG_SOURCE_LSLAM   1</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00062">62</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="a01bea30407d99cbd2b472f803be96167"></a><!-- doxytag: member="HMT_SLAM_common.h::NODE_ANNOTATION_METRIC_MAPS" ref="a01bea30407d99cbd2b472f803be96167" args="" -->
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<td class="memname">#define NODE_ANNOTATION_METRIC_MAPS   "metricMaps"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00039">39</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="a65c9d970273d9be6309543273cd7f3e6"></a><!-- doxytag: member="HMT_SLAM_common.h::NODE_ANNOTATION_PLACE_POSE" ref="a65c9d970273d9be6309543273cd7f3e6" args="" -->
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<td class="memname">#define NODE_ANNOTATION_PLACE_POSE   "placePose"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00043">43</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="ad51590571a5a9c1eee159d22726e64c0"></a><!-- doxytag: member="HMT_SLAM_common.h::NODE_ANNOTATION_POSES_GRAPH" ref="ad51590571a5a9c1eee159d22726e64c0" args="" -->
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<td class="memname">#define NODE_ANNOTATION_POSES_GRAPH   "posesGraph"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00041">41</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="a3cfbcf8b8a13130e556d9f27e12d1c7f"></a><!-- doxytag: member="HMT_SLAM_common.h::NODE_ANNOTATION_REF_POSEID" ref="a3cfbcf8b8a13130e556d9f27e12d1c7f" args="" -->
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<td class="memname">#define NODE_ANNOTATION_REF_POSEID   "refPoseID"</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00040">40</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="addfcc02678efd8a54e4923e27cd7072f"></a><!-- doxytag: member="HMT_SLAM_common.h::NODE_TYPES" ref="addfcc02678efd8a54e4923e27cd7072f" args="" -->
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<td class="memname">#define NODE_TYPES   "Place,Area,TopologicalMap,Object"</td>
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<p>Used in constructor of <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">mrpt::hmtslam::CHMHMapNode</a>. </p>
<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00054">54</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="a3204c6c2fbf629bfc03549a1613e7c1d"></a><!-- doxytag: member="HMT_SLAM_common.h::POSEID_INVALID" ref="a3204c6c2fbf629bfc03549a1613e7c1d" args="" -->
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<td class="memname">#define POSEID_INVALID   static_cast<TPoseID>(-1)</td>
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<p>Definition at line <a class="el" href="_h_m_t___s_l_a_m__common_8h_source.html#l00058">58</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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<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>
