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<div class="title">mrpt::hmtslam::CHierarchicalMHMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__hmtslam__grp.html">[mrpt-hmtslam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CHierarchicalMHMap" --><!-- doxytag: inherits="mrpt::utils::CSerializable,mrpt::hmtslam::CHierarchicalMapMHPartition" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. </p>
<p>This class is used within the HMT-SLAM implementation in <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>. </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_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">CHMHMapArc</a>, <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.">CHMHMapNode</a>, CHierarchicalMHMapPartition </dd></dl>
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<p><code>#include <<a class="el" href="_c_hierarchical_m_h_map_8h_source.html">mrpt/hmtslam/CHierarchicalMHMap.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:</div>
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<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_inherit__map" id="mrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="4,80,168,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="19,5,153,32"/><area shape="rect" id="node6" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html" title="Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map." alt="" coords="194,80,480,107"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout..." alt="" coords="226,5,448,32"/></map>
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<p><a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TNodeList::iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TNodeList::const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</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_hierarchical_map_m_h_partition.html#af915c2c6abe58d01a68140a58e01e9ac">TNodeIDsList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A type that reprensents a sequence of node IDs. <a href="#af915c2c6abe58d01a68140a58e01e9ac"></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_hierarchical_m_h_map.html#a7bc32e2f20bd7e89d7f06f733e44c09c">CHierarchicalMHMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a7bc32e2f20bd7e89d7f06f733e44c09c"></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_hierarchical_m_h_map.html#a62e319ddb14d149f8cbe1de794ec6ab4">dumpAsXMLfile</a> (<a class="el" href="classstd_1_1string.html">std::string</a> fileName) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a62e319ddb14d149f8cbe1de794ec6ab4"></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_hierarchical_m_h_map.html#a66674e1975dacfae88c6dbfcd71aeaa9">loadFromXMLfile</a> (<a class="el" href="classstd_1_1string.html">std::string</a> fileName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load a graph from a XML file. <a href="#a66674e1975dacfae88c6dbfcd71aeaa9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#acbcbd72feb3aa1b2e820270ff0c33e9c">~CHierarchicalMHMap</a> ()</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_hierarchical_m_h_map.html#abc8a8056433670e76182d202d2595db3">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all the contents of map (It delete all nodes/arcs objects) <a href="#abc8a8056433670e76182d202d2595db3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a40e2b001643129d01a918a93ac9c0342">begin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an iterator to the first node in the graph. <a href="#a40e2b001643129d01a918a93ac9c0342"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a081345afbc77fd978d81f92a6fbddd14">begin</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an iterator to the first node in the graph. <a href="#a081345afbc77fd978d81f92a6fbddd14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a621f610599770cf97997b96e311ce5bb">end</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an iterator to the end of the list of nodes in the graph. <a href="#a621f610599770cf97997b96e311ce5bb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a1766a6c49ac6d6b2cf75d2763f906a4c">end</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an iterator to the end of the list of nodes in the graph. <a href="#a1766a6c49ac6d6b2cf75d2763f906a4c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a8ad9ae257bfffa0b4480e8e7e582be98">nodeCount</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the number of nodes in the partition: <a href="#a8ad9ae257bfffa0b4480e8e7e582be98"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ae111b0cfd886b1c601b616308244c648">arcCount</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the number of arcs in the partition: <a href="#ae111b0cfd886b1c601b616308244c648"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abb85d2fe6f1f36acf759666e90390d8b">getFirstNode</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the first node in the graph, or NULL if it does not exist. <a href="#abb85d2fe6f1f36acf759666e90390d8b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ac35e34a2a0a8de369a539fc23558734d">getNodeByID</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> id)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the node with the given ID, or NULL if it does not exist. <a href="#ac35e34a2a0a8de369a539fc23558734d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <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="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ac14b20f6060d646f46c67fa146f21ea3">getNodeByID</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> id) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the node with the given ID, or NULL if it does not exist. <a href="#ac14b20f6060d646f46c67fa146f21ea3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><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="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ae16eb650167aa11f31b8acc160b56189">getNodeByLabel</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &label, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. <a href="#ae16eb650167aa11f31b8acc160b56189"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <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="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a714e041606bd3d736b8de58e38a0a22e">getNodeByLabel</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &label, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. <a href="#a714e041606bd3d736b8de58e38a0a22e"></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_hierarchical_map_m_h_partition.html#aeb3f86d2dd3643b64c7cdfd4c85ff38b">saveAreasDiagramForMATLAB</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &idReferenceNode, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) <a href="#aeb3f86d2dd3643b64c7cdfd4c85ff38b"></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_hierarchical_map_m_h_partition.html#a825aa85677c14e9f9c31fbed4b599a70">saveAreasDiagramWithEllipsedForMATLAB</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &idReferenceNode, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves a MATLAB script that represents graphically the nodes with <em>type</em>="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. <a href="#a825aa85677c14e9f9c31fbed4b599a70"></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_hierarchical_map_m_h_partition.html#a3b376eb4f52475d4524596b894ed2a8d">saveGlobalMapForMATLAB</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &idReferenceNode) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: <a href="#a3b376eb4f52475d4524596b894ed2a8d"></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_hierarchical_map_m_h_partition.html#a64d5f61fd990f3cc0cddd7fd851dd387">findPathBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeFrom, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeTo, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, <a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> &out_path, bool direction=false) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The Dijkstra algorithm for finding the shortest path between a pair of nodes. <a href="#a64d5f61fd990f3cc0cddd7fd851dd387"></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_hierarchical_map_m_h_partition.html#adf905ff685dbc4177a63e8a923051d88">computeCoordinatesTransformationBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeFrom, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeTo, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &posePDF, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=DEG2RAD(0.1)) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. <a href="#adf905ff685dbc4177a63e8a923051d88"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a569d9bccc3e72fed75a8a7fc8151cc2c">computeMatchProbabilityBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeFrom, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeTo, float &maxMatchProb, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html">CPose3DPDFSOG</a> &estimatedRelativePose, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, unsigned int monteCarloSamplesPose=300)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". <a href="#a569d9bccc3e72fed75a8a7fc8151cc2c"></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_hierarchical_map_m_h_partition.html#ad7d883bab5660c9e5f189236ac3d1db8">findArcsBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node1, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node2, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, <a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> &out_listArcs) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns all the arcs between a pair of nodes: <a href="#ad7d883bab5660c9e5f189236ac3d1db8"></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_hierarchical_map_m_h_partition.html#a6e0c7c1686b06c081327c848ec175772">findArcsOfTypeBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node1id, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node2id, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const <a class="el" href="classstd_1_1string.html">std::string</a> &arcType, <a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> &ret) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the arcs between a pair of nodes of a given type. <a href="#a6e0c7c1686b06c081327c848ec175772"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a64d6801fdcd9a1199378ea84a8aeed7a">findArcOfTypeBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node1id, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node2id, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const <a class="el" href="classstd_1_1string.html">std::string</a> &arcType, bool &isInverted) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. <a href="#a64d6801fdcd9a1199378ea84a8aeed7a"></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_hierarchical_map_m_h_partition.html#a88be14a1b9d11aa5cd06c7fe2bd662ab">areNodesNeightbour</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node1, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &node2, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const char *requiredAnnotation=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns wether two nodes are "neightbour", i.e. <a href="#a88be14a1b9d11aa5cd06c7fe2bd662ab"></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_hierarchical_map_m_h_partition.html#a622ea641da767f7544f16ea0ccb4b76a">computeGloballyConsistentNodeCoordinates</a> (<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="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a>, std::less< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> >, <a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a>< std::pair< const <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_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> > > > &nodePoses, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &idReferenceNode, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const unsigned int &numberOfIterations=2) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. <a href="#a622ea641da767f7544f16ea0ccb4b76a"></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_hierarchical_map_m_h_partition.html#a876cb478925b974e591a54e26c07b3b1">getAs3DScene</a> (<a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html">COpenGLScene</a> &outScene, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &idReferenceNode, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D scene reconstruction of the hierarchical map. <a href="#a876cb478925b974e591a54e26c07b3b1"></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_hierarchical_map_m_h_partition.html#aaba93975aa999001ba5207012416d89f">dumpAsText</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> &s) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return a textual description of the whole graph. <a href="#aaba93975aa999001ba5207012416d89f"></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_hierarchical_map_m_h_partition.html#a73c0e99573d38acb6dc8cb081ffca2b3">computeOverlapProbabilityBetweenNodes</a> (const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeFrom, const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> &nodeTo, const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. <a href="#a73c0e99573d38acb6dc8cb081ffca2b3"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html#ab78281b5d70d6e295a8527a10fea66de">printf_debug</a> (const char *frmt,...)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sends a formated text to "debugOut" if not NULL, or to cout otherwise. <a href="#ab78281b5d70d6e295a8527a10fea66de"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></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_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></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_hierarchical_m_h_map.html#aa395e7a6b80d4fff7c1e1270619bff0a">onNodeAddition</a> (<a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &node)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just after a node has being created: it will be added to the internal list. <a href="#aa395e7a6b80d4fff7c1e1270619bff0a"></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_hierarchical_m_h_map.html#a62b693aa6065e4ec6bf088debd13c0f6">onArcAddition</a> (<a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> &arc)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just after an arc has being created: it will be added to the internal list. <a href="#a62b693aa6065e4ec6bf088debd13c0f6"></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_hierarchical_m_h_map.html#a05b6d54ab240df1c88bbfeed45302513">onNodeDestruction</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a> *node)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just before a node is being destroyed: it will be removed from the internal list. <a href="#a05b6d54ab240df1c88bbfeed45302513"></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_hierarchical_m_h_map.html#a0283c1f65e5aec98673a0b3dc9fd2d25">onArcDestruction</a> (<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a> *arc)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. <a href="#a0283c1f65e5aec98673a0b3dc9fd2d25"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></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="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40">TNodeList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a97f44ac662f858ab9a8cd33c128713a9">m_nodes</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The internal list of nodes and arcs in the whole hierarchical model. <a href="#a97f44ac662f858ab9a8cd33c128713a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a98c8bce19fc619cc1501c8609aa02b19">m_arcs</a></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_hierarchical_m_h_map.html#ab7007eebcebfd6d6376a5f538ba2a7d7">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="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#aba14e7d1bb417aaba5694b74e63ef66c">CHMHMapNode</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">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</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_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a7a2d7f76557aa7e232b688f77dcd482c">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_hierarchical_m_h_map.html#a2cdc6c3429d945466c0edf9d93271d05">_init_CHierarchicalMHMap</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_hierarchical_m_h_map.html#a004193dd4a944096e0b1d73bb96cd376">classCHierarchicalMHMap</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_hierarchical_m_h_map.html#a0f68205224edff50af1d37c32a34bcb6">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_hierarchical_m_h_map.html#a5d5b8cab0ccdbafc5dd7ffb9baf5a89e">_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_hierarchical_m_h_map.html#a99325079660d7cafac5f21b526aae884">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="#a99325079660d7cafac5f21b526aae884"></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_hierarchical_m_h_map.html#a27438440f4020af9344d231faccc753f">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="#a27438440f4020af9344d231faccc753f"></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_hierarchical_m_h_map.html#a3bca1074930cf3372bc51a0bf6bb444a">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a521b9c0e54d662aff9c8022bd1d8b1f4">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a7cb6ba1d89b2ead39c44de1d063bbd88"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::const_iterator" ref="a7cb6ba1d89b2ead39c44de1d063bbd88" args="" -->
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<td class="memname">typedef <a class="el" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TNodeList::const_iterator</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">mrpt::hmtslam::CHierarchicalMapMHPartition::const_iterator</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00075">75</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="abda92fb19cccffd38ecd7ec9c48adcda"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::iterator" ref="abda92fb19cccffd38ecd7ec9c48adcda" args="" -->
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<td class="memname">typedef <a class="el" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TNodeList::iterator</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">mrpt::hmtslam::CHierarchicalMapMHPartition::iterator</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00074">74</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="a7a2d7f76557aa7e232b688f77dcd482c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::SmartPtr" ref="a7a2d7f76557aa7e232b688f77dcd482c" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a7a2d7f76557aa7e232b688f77dcd482c">mrpt::hmtslam::CHierarchicalMHMap::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_hierarchical_m_h_map_8h_source.html#l00058">58</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="af915c2c6abe58d01a68140a58e01e9ac"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::TNodeIDsList" ref="af915c2c6abe58d01a68140a58e01e9ac" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</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_hierarchical_map_m_h_partition.html#af915c2c6abe58d01a68140a58e01e9ac">mrpt::hmtslam::CHierarchicalMapMHPartition::TNodeIDsList</a><code> [inherited]</code></td>
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<p>A type that reprensents a sequence of node IDs. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00095">95</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a7bc32e2f20bd7e89d7f06f733e44c09c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap" ref="a7bc32e2f20bd7e89d7f06f733e44c09c" args="()" -->
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<td class="memname">mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap </td>
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<p>Default constructor. </p>
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<a class="anchor" id="acbcbd72feb3aa1b2e820270ff0c33e9c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap" ref="acbcbd72feb3aa1b2e820270ff0c33e9c" args="()" -->
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<td class="memname">virtual mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a5d5b8cab0ccdbafc5dd7ffb9baf5a89e"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::_GetBaseClass" ref="a5d5b8cab0ccdbafc5dd7ffb9baf5a89e" 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::CHierarchicalMHMap::_GetBaseClass </td>
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<td class="paramname"></td><td>)</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="ae111b0cfd886b1c601b616308244c648"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::arcCount" ref="ae111b0cfd886b1c601b616308244c648" args="() const " -->
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<td class="memname">size_t mrpt::hmtslam::CHierarchicalMapMHPartition::arcCount </td>
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<p>Returns the number of arcs in the partition: </p>
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<a class="anchor" id="a88be14a1b9d11aa5cd06c7fe2bd662ab"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::areNodesNeightbour" ref="a88be14a1b9d11aa5cd06c7fe2bd662ab" args="(const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, const char *requiredAnnotation=NULL) const " -->
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<td class="memname">bool mrpt::hmtslam::CHierarchicalMapMHPartition::areNodesNeightbour </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>node1</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>node2</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>requiredAnnotation</em> = <code>NULL</code> </td>
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<p>Returns wether two nodes are "neightbour", i.e. </p>
<p>have a direct arc between them </p>
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<a class="anchor" id="a40e2b001643129d01a918a93ac9c0342"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::begin" ref="a40e2b001643129d01a918a93ac9c0342" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> mrpt::hmtslam::CHierarchicalMapMHPartition::begin </td>
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<p>Returns an iterator to the first node in the graph. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00078">78</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="a081345afbc77fd978d81f92a6fbddd14"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::begin" ref="a081345afbc77fd978d81f92a6fbddd14" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a> mrpt::hmtslam::CHierarchicalMapMHPartition::begin </td>
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<p>Returns an iterator to the first node in the graph. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00081">81</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="abc8a8056433670e76182d202d2595db3"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::clear" ref="abc8a8056433670e76182d202d2595db3" args="()" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::clear </td>
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<p>Erase all the contents of map (It delete all nodes/arcs objects) </p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="adf905ff685dbc4177a63e8a923051d88"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::computeCoordinatesTransformationBetweenNodes" ref="adf905ff685dbc4177a63e8a923051d88" args="(const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, CPose3DPDFParticles &posePDF, const THypothesisID &hypothesisID, unsigned int particlesCount=100, float additionalNoiseXYratio=0.02, float additionalNoisePhiRad=DEG2RAD(0.1)) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::computeCoordinatesTransformationBetweenNodes </td>
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<p>Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>If there is not enought information in arcs to compute the PDF </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a622ea641da767f7544f16ea0ccb4b76a" title="This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of al...">computeGloballyConsistentNodeCoordinates</a> </dd></dl>
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<a class="anchor" id="a622ea641da767f7544f16ea0ccb4b76a"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::computeGloballyConsistentNodeCoordinates" ref="a622ea641da767f7544f16ea0ccb4b76a" args="(std::map< CHMHMapNode::TNodeID, CPose3DPDFGaussian, std::less< CHMHMapNode::TNodeID >, Eigen::aligned_allocator< std::pair< const CHMHMapNode::TNodeID, CPose3DPDFGaussian > > > &nodePoses, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterations=2) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates </td>
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<td class="paramtype"><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="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a>, std::less< <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> >, <a class="el" href="class_eigen_1_1aligned__allocator.html">Eigen::aligned_allocator</a>< std::pair< const <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_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> > > > & </td>
<td class="paramname"><em>nodePoses</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>idReferenceNode</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">const unsigned int & </td>
<td class="paramname"><em>numberOfIterations</em> = <code>2</code> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information. </p>
<p>Global coordinates will be computed relative to the node "idReferenceNode". </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>If there is any node without a pose arc, invalid (non invertible) matrixes, etc... </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#adf905ff685dbc4177a63e8a923051d88" title="Draw a number of samples according to the PDF of the coordinates transformation between a pair of "A...">computeCoordinatesTransformationBetweenNodes</a> </dd></dl>
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<a class="anchor" id="a569d9bccc3e72fed75a8a7fc8151cc2c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::computeMatchProbabilityBetweenNodes" ref="a569d9bccc3e72fed75a8a7fc8151cc2c" args="(const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, float &maxMatchProb, CPose3DPDFSOG &estimatedRelativePose, const THypothesisID &hypothesisID, unsigned int monteCarloSamplesPose=300)" -->
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<td class="memname">float mrpt::hmtslam::CHierarchicalMapMHPartition::computeMatchProbabilityBetweenNodes </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeFrom</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeTo</em>, </td>
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<td class="paramtype">float & </td>
<td class="paramname"><em>maxMatchProb</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html">CPose3DPDFSOG</a> & </td>
<td class="paramname"><em>estimatedRelativePose</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">unsigned int </td>
<td class="paramname"><em>monteCarloSamplesPose</em> = <code>300</code> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation) If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose". </p>
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<a class="anchor" id="a73c0e99573d38acb6dc8cb081ffca2b3"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::computeOverlapProbabilityBetweenNodes" ref="a73c0e99573d38acb6dc8cb081ffca2b3" args="(const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, const size_t &monteCarloSamples=100, const float margin_to_substract=6) const " -->
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<td class="memname">double mrpt::hmtslam::CHierarchicalMapMHPartition::computeOverlapProbabilityBetweenNodes </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeFrom</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeTo</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">const size_t & </td>
<td class="paramname"><em>monteCarloSamples</em> = <code>100</code>, </td>
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<td class="paramname"><em>margin_to_substract</em> = <code>6</code> </td>
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<td>)</td>
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<p>Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>If there is not enought information in arcs, etc... </td></tr>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">margin_to_substract</td><td>In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps. </td></tr>
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<a class="anchor" id="a521b9c0e54d662aff9c8022bd1d8b1f4"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::Create" ref="a521b9c0e54d662aff9c8022bd1d8b1f4" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html">CHierarchicalMHMapPtr</a> mrpt::hmtslam::CHierarchicalMHMap::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::CHierarchicalMHMap::CreateObject </td>
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<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="aaba93975aa999001ba5207012416d89f"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::dumpAsText" ref="aaba93975aa999001ba5207012416d89f" args="(utils::CStringList &s) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::dumpAsText </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> & </td>
<td class="paramname"><em>s</em></td><td>)</td>
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<p>Return a textual description of the whole graph. </p>
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile </td>
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<p>Destructor. </p>
<p>Save the whole graph as a XML file </p>
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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::CHierarchicalMHMap::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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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a621f610599770cf97997b96e311ce5bb"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::end" ref="a621f610599770cf97997b96e311ce5bb" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> mrpt::hmtslam::CHierarchicalMapMHPartition::end </td>
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<p>Returns an iterator to the end of the list of nodes in the graph. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00084">84</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<p>Returns an iterator to the end of the list of nodes in the graph. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00087">87</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="a64d6801fdcd9a1199378ea84a8aeed7a"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::findArcOfTypeBetweenNodes" ref="a64d6801fdcd9a1199378ea84a8aeed7a" args="(const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, bool &isInverted) const " -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>node2id</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">bool & </td>
<td class="paramname"><em>isInverted</em> </td>
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<td>)</td>
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<p>Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The arc, or NULL if not found. </dd></dl>
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<a class="anchor" id="ad7d883bab5660c9e5f189236ac3d1db8"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::findArcsBetweenNodes" ref="ad7d883bab5660c9e5f189236ac3d1db8" args="(const CHMHMapNode::TNodeID &node1, const CHMHMapNode::TNodeID &node2, const THypothesisID &hypothesisID, TArcList &out_listArcs) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::findArcsBetweenNodes </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
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<p>Returns all the arcs between a pair of nodes: </p>
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<a class="anchor" id="a6e0c7c1686b06c081327c848ec175772"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::findArcsOfTypeBetweenNodes" ref="a6e0c7c1686b06c081327c848ec175772" args="(const CHMHMapNode::TNodeID &node1id, const CHMHMapNode::TNodeID &node2id, const THypothesisID &hypothesisID, const std::string &arcType, TArcList &ret) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::findArcsOfTypeBetweenNodes </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>node2id</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>arcType</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> & </td>
<td class="paramname"><em>ret</em> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Returns the arcs between a pair of nodes of a given type. </p>
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<a class="anchor" id="a64d5f61fd990f3cc0cddd7fd851dd387"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::findPathBetweenNodes" ref="a64d5f61fd990f3cc0cddd7fd851dd387" args="(const CHMHMapNode::TNodeID &nodeFrom, const CHMHMapNode::TNodeID &nodeTo, const THypothesisID &hypothesisID, TArcList &out_path, bool direction=false) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::findPathBetweenNodes </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeFrom</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>nodeTo</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> & </td>
<td class="paramname"><em>out_path</em>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>direction</em> = <code>false</code> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>The Dijkstra algorithm for finding the shortest path between a pair of nodes. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide. </dd></dl>
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<a class="anchor" id="a876cb478925b974e591a54e26c07b3b1"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::getAs3DScene" ref="a876cb478925b974e591a54e26c07b3b1" args="(COpenGLScene &outScene, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, const unsigned int &numberOfIterationsForOptimalGlobalPoses=5, const bool &showRobotPoseIDs=true) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::getAs3DScene </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html">COpenGLScene</a> & </td>
<td class="paramname"><em>outScene</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>idReferenceNode</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramtype">const unsigned int & </td>
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<td class="paramtype">const bool & </td>
<td class="paramname"><em>showRobotPoseIDs</em> = <code>true</code> </td>
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<p>Returns a 3D scene reconstruction of the hierarchical map. </p>
<p>See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses" </p>
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<a class="anchor" id="abb85d2fe6f1f36acf759666e90390d8b"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::getFirstNode" ref="abb85d2fe6f1f36acf759666e90390d8b" args="()" -->
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<td class="memname"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::getFirstNode </td>
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<p>Returns the first node in the graph, or NULL if it does not exist. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate" </dd></dl>
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<td class="memname"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> </td>
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<td><code> [inherited]</code></td>
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<p>Returns the node with the given ID, or NULL if it does not exist. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate" </dd></dl>
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<td class="memname">const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> </td>
<td class="paramname"><em>id</em></td><td>)</td>
<td> const<code> [inherited]</code></td>
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<p>Returns the node with the given ID, or NULL if it does not exist. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate" </dd></dl>
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<td class="memname"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>label</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em> </td>
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<p>Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate" </dd></dl>
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<a class="anchor" id="a714e041606bd3d736b8de58e38a0a22e"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::getNodeByLabel" ref="a714e041606bd3d736b8de58e38a0a22e" args="(const std::string &label, const THypothesisID &hypothesisID) const " -->
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<td class="memname">const <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>label</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate" </dd></dl>
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<a class="anchor" id="a99325079660d7cafac5f21b526aae884"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::GetRuntimeClass" ref="a99325079660d7cafac5f21b526aae884" 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::CHierarchicalMHMap::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</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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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile </td>
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<td class="paramname"><em>fileName</em></td><td>)</td>
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<p>Load a graph from a XML file. </p>
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<td class="memname">size_t mrpt::hmtslam::CHierarchicalMapMHPartition::nodeCount </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inherited]</code></td>
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<p>Returns the number of nodes in the partition: </p>
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<a class="anchor" id="a62b693aa6065e4ec6bf088debd13c0f6"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onArcAddition" ref="a62b693aa6065e4ec6bf088debd13c0f6" args="(CHMHMapArcPtr &arc)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onArcAddition </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> & </td>
<td class="paramname"><em>arc</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just after an arc has being created: it will be added to the internal list. </p>
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onArcDestruction </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a> * </td>
<td class="paramname"><em>arc</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just before an arc is being destroyed: it will be removed from the internal list. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers. </dd></dl>
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<a class="anchor" id="aa395e7a6b80d4fff7c1e1270619bff0a"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition" ref="aa395e7a6b80d4fff7c1e1270619bff0a" args="(CHMHMapNodePtr &node)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> & </td>
<td class="paramname"><em>node</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just after a node has being created: it will be added to the internal list. </p>
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<a class="anchor" id="a05b6d54ab240df1c88bbfeed45302513"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction" ref="a05b6d54ab240df1c88bbfeed45302513" args="(CHMHMapNode *node)" -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction </td>
<td>(</td>
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<td class="paramname"><em>node</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Event handler to be called just before a node is being destroyed: it will be removed from the internal list. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers. </dd></dl>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::printf_debug" ref="ab78281b5d70d6e295a8527a10fea66de" args="(const char *frmt,...)" -->
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </td>
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<td class="paramtype">const char * </td>
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<td class="paramtype"> </td>
<td class="paramname"><em>...</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>Sends a formated text to "debugOut" if not NULL, or to cout otherwise. </p>
<p>Referenced by <a class="el" href="_c_levenberg_marquardt_8h_source.html#l00098">mrpt::math::CLevenbergMarquardtTempl::execute()</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </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>
<td class="paramname"><em>in</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
</div>
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<a class="anchor" id="aeb3f86d2dd3643b64c7cdfd4c85ff38b"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::saveAreasDiagramForMATLAB" ref="aeb3f86d2dd3643b64c7cdfd4c85ff38b" args="(const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::saveAreasDiagramForMATLAB </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filName</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>idReferenceNode</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc) </p>
<ul>
<li>The partition may be empty if no node fulfills the condition.</li>
<li>All arcs STARTING at each node from the partition will be added to the partition as well.</li>
<li>Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only. <dl class="see"><dt><b>See also:</b></dt><dd><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...">CHMHMapArc</a> Saves a MATLAB script that represents graphically the nodes with <em>type</em>="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference. ADDITIONAL NOTES:</dd></dl>
</li>
<li>Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</li>
<li>If the coordinates of any node can not be computed (no arcs,...), an exception will be raised. </li>
</ul>
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<a class="anchor" id="a825aa85677c14e9f9c31fbed4b599a70"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::saveAreasDiagramWithEllipsedForMATLAB" ref="a825aa85677c14e9f9c31fbed4b599a70" args="(const std::string &filName, const CHMHMapNode::TNodeID &idReferenceNode, const THypothesisID &hypothesisID, float uncertaintyExagerationFactor=1.0f, bool drawArcs=false, unsigned int numberOfIterationsForOptimalGlobalPoses=4) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::saveAreasDiagramWithEllipsedForMATLAB </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filName</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>idReferenceNode</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>uncertaintyExagerationFactor</em> = <code>1.0f</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>drawArcs</em> = <code>false</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>numberOfIterationsForOptimalGlobalPoses</em> = <code>4</code> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Saves a MATLAB script that represents graphically the nodes with <em>type</em>="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node. </p>
<p>ADDITIONAL NOTES:</p>
<ul>
<li>Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</li>
<li>If the coordinates of any node can not be computed (no arcs,...), an exception will be raised. </li>
</ul>
</div>
</div>
<a class="anchor" id="a3b376eb4f52475d4524596b894ed2a8d"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::saveGlobalMapForMATLAB" ref="a3b376eb4f52475d4524596b894ed2a8d" args="(const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const " -->
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<td class="memname">void mrpt::hmtslam::CHierarchicalMapMHPartition::saveGlobalMapForMATLAB </td>
<td>(</td>
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<td class="paramname"><em>filName</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee">THypothesisID</a> & </td>
<td class="paramname"><em>hypothesisID</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">CHMHMapNode::TNodeID</a> & </td>
<td class="paramname"><em>idReferenceNode</em> </td>
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<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Saves a MATLAB script that represents graphically the reconstructed "global map" ADDITIONAL NOTES: </p>
<ul>
<li>Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</li>
<li>If the coordinates of any node can not be computed (no arcs,...), an exception will be raised. </li>
</ul>
</div>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="ab7007eebcebfd6d6376a5f538ba2a7d7"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHMHMapArc" ref="ab7007eebcebfd6d6376a5f538ba2a7d7" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">CHMHMapArc</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00054">54</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="aba14e7d1bb417aaba5694b74e63ef66c"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::CHMHMapNode" ref="aba14e7d1bb417aaba5694b74e63ef66c" args="" -->
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<td class="memname">friend class HMTSLAM_IMPEXP <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">CHMHMapNode</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00055">55</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a2cdc6c3429d945466c0edf9d93271d05"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::_init_CHierarchicalMHMap" ref="a2cdc6c3429d945466c0edf9d93271d05" 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_hierarchical_m_h_map.html#a2cdc6c3429d945466c0edf9d93271d05">mrpt::hmtslam::CHierarchicalMHMap::_init_CHierarchicalMHMap</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00058">58</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="a004193dd4a944096e0b1d73bb96cd376"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::classCHierarchicalMHMap" ref="a004193dd4a944096e0b1d73bb96cd376" 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_hierarchical_m_h_map.html#a004193dd4a944096e0b1d73bb96cd376">mrpt::hmtslam::CHierarchicalMHMap::classCHierarchicalMHMap</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00058">58</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" 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_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" 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_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a0f68205224edff50af1d37c32a34bcb6"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::classinfo" ref="a0f68205224edff50af1d37c32a34bcb6" 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_hierarchical_m_h_map.html#a0f68205224edff50af1d37c32a34bcb6">mrpt::hmtslam::CHierarchicalMHMap::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_m_h_map_8h_source.html#l00058">58</a> of file <a class="el" href="_c_hierarchical_m_h_map_8h_source.html">CHierarchicalMHMap.h</a>.</p>
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<a class="anchor" id="a98c8bce19fc619cc1501c8609aa02b19"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::m_arcs" ref="a98c8bce19fc619cc1501c8609aa02b19" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html">TArcList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a98c8bce19fc619cc1501c8609aa02b19">mrpt::hmtslam::CHierarchicalMapMHPartition::m_arcs</a><code> [protected, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00070">70</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.h</a>.</p>
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<a class="anchor" id="a97f44ac662f858ab9a8cd33c128713a9"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMHMap::m_nodes" ref="a97f44ac662f858ab9a8cd33c128713a9" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40">TNodeList</a> <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a97f44ac662f858ab9a8cd33c128713a9">mrpt::hmtslam::CHierarchicalMapMHPartition::m_nodes</a><code> [protected, inherited]</code></td>
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<p>The internal list of nodes and arcs in the whole hierarchical model. </p>
<p>The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects. </p>
<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00069">69</a> of file <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">CHierarchicalMapMHPartition.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>
