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<div class="title">mrpt::hmtslam::CHierarchicalMapMHPartition 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::CHierarchicalMapMHPartition" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. </p>
<p>A usar will never create an instance of this class, rather it will employ <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a>. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</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> </dd></dl>
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<p><code>#include <<a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html">mrpt/hmtslam/CHierarchicalMapMHPartition.h</a>></code></p>
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Inheritance diagram for mrpt::hmtslam::CHierarchicalMapMHPartition:</div>
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<div class="center"><img src="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node5" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model..." alt="" coords="29,155,267,181"/><area shape="rect" id="node2" 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="37,5,259,32"/></map>
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<p><a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition-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"><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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ada400d868d635ea522eb03184c467be0">CHierarchicalMapMHPartition</a> ()</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>
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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>
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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>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a7cb6ba1d89b2ead39c44de1d063bbd88"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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></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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<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></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="af915c2c6abe58d01a68140a58e01e9ac"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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></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="ada400d868d635ea522eb03184c467be0"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::CHierarchicalMapMHPartition" ref="ada400d868d635ea522eb03184c467be0" args="()" -->
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<td class="memname">mrpt::hmtslam::CHierarchicalMapMHPartition::CHierarchicalMapMHPartition </td>
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<p>Definition at line <a class="el" href="_c_hierarchical_map_m_h_partition_8h_source.html#l00090">90</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>Member Function Documentation</h2>
<a class="anchor" id="ae111b0cfd886b1c601b616308244c648"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::arcCount" ref="ae111b0cfd886b1c601b616308244c648" args="() const " -->
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<p>Returns the number of arcs in the partition: </p>
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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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<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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<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="adf905ff685dbc4177a63e8a923051d88"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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>
<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>nodeFrom</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>nodeTo</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"><em>posePDF</em>, </td>
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<td class="paramkey"></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>
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<td class="paramtype">unsigned int </td>
<td class="paramname"><em>particlesCount</em> = <code>100</code>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>additionalNoiseXYratio</em> = <code>0.02</code>, </td>
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<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>additionalNoisePhiRad</em> = <code>DEG2RAD(0.1)</code> </td>
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<td>)</td>
<td></td><td> const</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>
<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 to compute the PDF </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_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::CHierarchicalMapMHPartition::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>
<td>(</td>
<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="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 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</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::CHierarchicalMapMHPartition::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>
<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>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="paramkey"></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">unsigned int </td>
<td class="paramname"><em>monteCarloSamplesPose</em> = <code>300</code> </td>
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<td>)</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::CHierarchicalMapMHPartition::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>
<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>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="paramkey"></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="paramtype">const float </td>
<td class="paramname"><em>margin_to_substract</em> = <code>6</code> </td>
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<td>)</td>
<td></td><td> const</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="aaba93975aa999001ba5207012416d89f"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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"><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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<td class="paramname"></td><td>)</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::CHierarchicalMapMHPartition::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 class="memname"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> mrpt::hmtslam::CHierarchicalMapMHPartition::findArcOfTypeBetweenNodes </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>
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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">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="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::CHierarchicalMapMHPartition::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>
<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>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>
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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_listArcs</em> </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::CHierarchicalMapMHPartition::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>
<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>node1id</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>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">const <a class="el" href="classstd_1_1string.html">std::string</a> & </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>ret</em> </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::CHierarchicalMapMHPartition::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="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>
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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::CHierarchicalMapMHPartition::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="paramtype"><a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html">COpenGLScene</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 a 3D scene reconstruction of the hierarchical map. </p>
<p>See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses" </p>
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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>
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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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<a class="anchor" id="ac14b20f6060d646f46c67fa146f21ea3"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByID" ref="ac14b20f6060d646f46c67fa146f21ea3" args="(CHMHMapNode::TNodeID id) 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::getNodeByID </td>
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<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>
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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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<a class="anchor" id="ae16eb650167aa11f31b8acc160b56189"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel" ref="ae16eb650167aa11f31b8acc160b56189" args="(const std::string &label, const THypothesisID &hypothesisID)" -->
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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>
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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::CHierarchicalMapMHPartition::getNodeByLabel" ref="a714e041606bd3d736b8de58e38a0a22e" args="(const std::string &label, const THypothesisID &hypothesisID) const " -->
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </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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<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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<td class="memname">size_t mrpt::hmtslam::CHierarchicalMapMHPartition::nodeCount </td>
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<p>Returns the number of nodes in the partition: </p>
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<td class="memname">static void mrpt::utils::CDebugOutputCapable::printf_debug </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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<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 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>
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<a class="anchor" id="a825aa85677c14e9f9c31fbed4b599a70"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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="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>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>
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<a class="anchor" id="a3b376eb4f52475d4524596b894ed2a8d"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::saveGlobalMapForMATLAB" ref="a3b376eb4f52475d4524596b894ed2a8d" args="(const std::string &filName, const THypothesisID &hypothesisID, const CHMHMapNode::TNodeID &idReferenceNode) const " -->
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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>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a98c8bce19fc619cc1501c8609aa02b19"></a><!-- doxytag: member="mrpt::hmtslam::CHierarchicalMapMHPartition::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]</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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<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]</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>
