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<div class="title">mrpt::slam::CIncrementalMapPartitioner Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CIncrementalMapPartitioner" --><!-- doxytag: inherits="mrpt::utils::CDebugOutputCapable,mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. </p>
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<p><code>#include <<a class="el" href="_c_incremental_map_partitioner_8h_source.html">mrpt/slam/CIncrementalMapPartitioner.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner:</div>
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<p><a href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">TOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Configuration of the algorithm: <a href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#details">More...</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_1slam_1_1_c_incremental_map_partitioner.html#af8cc7993d859f8e340d5371131b799d9">CIncrementalMapPartitioner</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: <a href="#af8cc7993d859f8e340d5371131b799d9"></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_1slam_1_1_c_incremental_map_partitioner.html#af14cdd6e66297a85cad1d47f48c3e759">~CIncrementalMapPartitioner</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor: <a href="#af14cdd6e66297a85cad1d47f48c3e759"></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_1slam_1_1_c_incremental_map_partitioner.html#aa5aef758ba24265dc9d15fa1b0607a28">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization: Start of a new map, new internal matrices,... <a href="#aa5aef758ba24265dc9d15fa1b0607a28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec138f7ff4cdcd115983b1d7b2602456">addMapFrame</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &frame, const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &robotPose2D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#aec138f7ff4cdcd115983b1d7b2602456"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a991bdd319212d235839f1841df2a7ad1">addMapFrame</a> (const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &frame, const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &robotPose3D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#a991bdd319212d235839f1841df2a7ad1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ad8eb836d4a4a6966d5d8b93c098bb25a">addMapFrame</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &frame, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &robotPose3D)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". <a href="#ad8eb836d4a4a6966d5d8b93c098bb25a"></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_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b">updatePartitions</a> (<a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> > &partitions)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method executed only the neccesary part of the partition to take into account the lastest added frames. <a href="#ac343b71302f00e45397fc337f513566b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae3dc93fcf6bd3715c8e2f7d7a1a1aee2">getNodesCount</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">It returns the nodes count currently in the internal map/graph. <a href="#ae3dc93fcf6bd3715c8e2f7d7a1a1aee2"></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_1slam_1_1_c_incremental_map_partitioner.html#a59f3e4ab4ac58ff54d714fc0a7bf7e4d">removeSetOfNodes</a> (<a class="el" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> indexesToRemove, bool changeCoordsRef=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove the stated nodes (0-based indexes) from the internal lists. <a href="#a59f3e4ab4ac58ff54d714fc0a7bf7e4d"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class MATRIX > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a20155785597748f54f10ded8b03e8379">getAdjacencyMatrix</a> (MATRIX &outMatrix) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the internal adjacency matrix. <a href="#a20155785597748f54f10ded8b03e8379"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec302cbc0cbd280fc1ee920d1a0ffe29">getAdjacencyMatrix</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a const ref to the internal adjacency matrix. <a href="#aec302cbc0cbd280fc1ee920d1a0ffe29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0f198071ed5e69fe0bfcbcbca38e8e88">getSequenceOfFrames</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Read-only access to the sequence of Sensory Frames. <a href="#a0f198071ed5e69fe0bfcbcbca38e8e88"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa162635c4f9bed86d7e0ebab43bc04eb">getSequenceOfFrames</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to the sequence of Sensory Frames. <a href="#aa162635c4f9bed86d7e0ebab43bc04eb"></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_1slam_1_1_c_incremental_map_partitioner.html#a10f043c79591eddf9ac64ebf6803330b">markAllNodesForReconsideration</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. <a href="#a10f043c79591eddf9ac64ebf6803330b"></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_1slam_1_1_c_incremental_map_partitioner.html#afc8320298fe2ae3b9fbde02108eef5d5">changeCoordinatesOrigin</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newOrigin)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. <a href="#afc8320298fe2ae3b9fbde02108eef5d5"></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_1slam_1_1_c_incremental_map_partitioner.html#a080983ca158b3682242876a2cfac1430">changeCoordinatesOriginPoseIndex</a> (const unsigned &newOriginPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. <a href="#a080983ca158b3682242876a2cfac1430"></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_1slam_1_1_c_incremental_map_partitioner.html#a51a129e530260d236545df642d351309">getAs3DScene</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &objs, const <a class="el" href="classstd_1_1map.html">std::map</a>< uint32_t, int64_t > *renameIndexes=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of the current state: poses & links between them. <a href="#a51a129e530260d236545df642d351309"></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 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-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">mrpt::slam::CIncrementalMapPartitioner::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa1aff35a962bd7361afe5ba0ef5002fc">options</a></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">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="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0">m_individualFrames</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">El conjunto de los scans se guardan en un array: <a href="#ac202e70e3c3441c05fbd16f16dc5e7b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">std::deque</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">mrpt::slam::CMultiMetricMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">m_individualMaps</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac">m_A</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Adjacency matrix. <a href="#a68c6444dee3b2a30d11e887a383bffac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa0220ab7837fc5d1d2befb05cf32ecaf">m_last_partition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The last partition. <a href="#aa0220ab7837fc5d1d2befb05cf32ecaf"></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_1slam_1_1_c_incremental_map_partitioner.html#aac5b5fcd23f95b65ace0c69cb1c820ad">m_last_last_partition_are_new_ones</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This will be true after adding new observations, and before an "updatePartitions" is invoked. <a href="#aac5b5fcd23f95b65ace0c69cb1c820ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< uint8_t > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17">m_modified_nodes</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">La lista de nodos que hay que tener en cuenta en la proxima actualizacion: <a href="#a0376000b379df906db5750da43ba4c17"></a><br/></td></tr>
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RTTI stuff</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_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></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>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html">CIncrementalMapPartitionerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ad09a7f72c841302a64977f49d561ff8d">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_1slam_1_1_c_incremental_map_partitioner.html#ae889a711f5f280eaee01e5479f011c0f">_init_CIncrementalMapPartitioner</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_1slam_1_1_c_incremental_map_partitioner.html#a78957e22dc08441ee0be063d26cc6a04">classCIncrementalMapPartitioner</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_1slam_1_1_c_incremental_map_partitioner.html#ac7b0248a477eaf52b3e1641cac991ee5">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_1slam_1_1_c_incremental_map_partitioner.html#a353abc8b1367fa7f9da9bd7a3073b80c">_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_1slam_1_1_c_incremental_map_partitioner.html#a36206f05260ea42f2f7e01fa56fac433">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="#a36206f05260ea42f2f7e01fa56fac433"></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_1slam_1_1_c_incremental_map_partitioner.html#a31d7ca9b000e8f07a79929e591343d86">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="#a31d7ca9b000e8f07a79929e591343d86"></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_1slam_1_1_c_incremental_map_partitioner.html#ac256c18fca4305511234ae8d0653c5e8">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html">CIncrementalMapPartitionerPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a3c9cd289943a74270a40d3382d34316e">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ad09a7f72c841302a64977f49d561ff8d"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::SmartPtr" ref="ad09a7f72c841302a64977f49d561ff8d" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_ptr.html">CIncrementalMapPartitionerPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ad09a7f72c841302a64977f49d561ff8d">mrpt::slam::CIncrementalMapPartitioner::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_incremental_map_partitioner_8h_source.html#l00058">58</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af8cc7993d859f8e340d5371131b799d9"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner" ref="af8cc7993d859f8e340d5371131b799d9" args="()" -->
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<td class="memname">mrpt::slam::CIncrementalMapPartitioner::CIncrementalMapPartitioner </td>
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<p>Constructor: </p>
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<td class="memname">virtual mrpt::slam::CIncrementalMapPartitioner::~CIncrementalMapPartitioner </td>
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<td><code> [virtual]</code></td>
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<p>Destructor: </p>
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<hr/><h2>Member Function Documentation</h2>
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CIncrementalMapPartitioner::_GetBaseClass </td>
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<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="aec138f7ff4cdcd115983b1d7b2602456"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::addMapFrame" ref="aec138f7ff4cdcd115983b1d7b2602456" args="(const CSensoryFramePtr &frame, const CPosePDFPtr &robotPose2D)" -->
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> & </td>
<td class="paramname"><em>frame</em>, </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> & </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">frame</td><td>The sensed data </td></tr>
<tr><td class="paramname">robotPose</td><td>An estimation of the robot global 2D pose. </td></tr>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account the lastest added ...">updatePartitions</a> </dd></dl>
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<a class="anchor" id="a991bdd319212d235839f1841df2a7ad1"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::addMapFrame" ref="a991bdd319212d235839f1841df2a7ad1" args="(const CSensoryFramePtr &frame, const CPose3DPDFPtr &robotPose3D)" -->
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<td class="memname">unsigned int mrpt::slam::CIncrementalMapPartitioner::addMapFrame </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> & </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> & </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">frame</td><td>The sensed data </td></tr>
<tr><td class="paramname">robotPose</td><td>An estimation of the robot global 2D pose. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account the lastest added ...">updatePartitions</a> </dd></dl>
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<td class="paramname"><em>robotPose3D</em> </td>
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<p>Add a new frame to the current graph: call this method each time a new observation is added to the map/graph, and whenever you want to update the partitions, call "updatePartitions". </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">frame</td><td>The sensed data </td></tr>
<tr><td class="paramname">robotPose</td><td>An estimation of the robot global 2D pose. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The index of the new pose in the internal list, which will be used to refer to the pose in the future. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac343b71302f00e45397fc337f513566b" title="This method executed only the neccesary part of the partition to take into account the lastest added ...">updatePartitions</a> </dd></dl>
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<a class="anchor" id="afc8320298fe2ae3b9fbde02108eef5d5"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::changeCoordinatesOrigin" ref="afc8320298fe2ae3b9fbde02108eef5d5" args="(const CPose3D &newOrigin)" -->
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<p>Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system. </p>
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<p>Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system; the new origin is given by the index of the pose to become the new origin. </p>
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<a class="anchor" id="aa5aef758ba24265dc9d15fa1b0607a28"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::clear" ref="aa5aef758ba24265dc9d15fa1b0607a28" args="()" -->
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<p>Initialization: Start of a new map, new internal matrices,... </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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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CIncrementalMapPartitioner::CreateObject </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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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="a20155785597748f54f10ded8b03e8379"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix" ref="a20155785597748f54f10ded8b03e8379" args="(MATRIX &outMatrix) const " -->
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template<class MATRIX > </div>
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix </td>
<td>(</td>
<td class="paramtype">MATRIX & </td>
<td class="paramname"><em>outMatrix</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Returns a copy of the internal adjacency matrix. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00168">168</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="aec302cbc0cbd280fc1ee920d1a0ffe29"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix" ref="aec302cbc0cbd280fc1ee920d1a0ffe29" args="() const " -->
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<td class="memname">const <a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a>& mrpt::slam::CIncrementalMapPartitioner::getAdjacencyMatrix </td>
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<td> const<code> [inline]</code></td>
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<p>Returns a const ref to the internal adjacency matrix. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00171">171</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a51a129e530260d236545df642d351309"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getAs3DScene" ref="a51a129e530260d236545df642d351309" args="(mrpt::opengl::CSetOfObjectsPtr &objs, const std::map< uint32_t, int64_t > *renameIndexes=NULL) const " -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::getAs3DScene </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> & </td>
<td class="paramname"><em>objs</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1map.html">std::map</a>< uint32_t, int64_t > * </td>
<td class="paramname"><em>renameIndexes</em> = <code>NULL</code> </td>
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<td></td>
<td>)</td>
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<p>Returns a 3D representation of the current state: poses & links between them. </p>
<p>The previous contents of "objs" will be discarded </p>
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<a class="anchor" id="ae3dc93fcf6bd3715c8e2f7d7a1a1aee2"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getNodesCount" ref="ae3dc93fcf6bd3715c8e2f7d7a1a1aee2" args="()" -->
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<p>It returns the nodes count currently in the internal map/graph. </p>
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<a class="anchor" id="a36206f05260ea42f2f7e01fa56fac433"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClass" ref="a36206f05260ea42f2f7e01fa56fac433" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CIncrementalMapPartitioner::GetRuntimeClass </td>
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<td class="paramname"></td><td>)</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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<a class="anchor" id="a0f198071ed5e69fe0bfcbcbca38e8e88"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames" ref="a0f198071ed5e69fe0bfcbcbca38e8e88" args="() const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames </td>
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<p>Read-only access to the sequence of Sensory Frames. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00175">175</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="aa162635c4f9bed86d7e0ebab43bc04eb"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames" ref="aa162635c4f9bed86d7e0ebab43bc04eb" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a>* mrpt::slam::CIncrementalMapPartitioner::getSequenceOfFrames </td>
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<td><code> [inline]</code></td>
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<p>Access to the sequence of Sensory Frames. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00182">182</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a10f043c79591eddf9ac64ebf6803330b"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::markAllNodesForReconsideration" ref="a10f043c79591eddf9ac64ebf6803330b" args="()" -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::markAllNodesForReconsideration </td>
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<p>Mark all nodes for reconsideration in the next call to "updatePartitions", instead of considering just those affected by aditions of new arcs. </p>
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<a class="anchor" id="ab78281b5d70d6e295a8527a10fea66de"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::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="paramname"><em>in</em>, </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>
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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#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a59f3e4ab4ac58ff54d714fc0a7bf7e4d"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes" ref="a59f3e4ab4ac58ff54d714fc0a7bf7e4d" args="(vector_uint indexesToRemove, bool changeCoordsRef=true)" -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::removeSetOfNodes </td>
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<p>Remove the stated nodes (0-based indexes) from the internal lists. </p>
<p>If changeCoordsRef is true, coordinates are changed to leave the first node at (0,0,0). </p>
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<a class="anchor" id="ac343b71302f00e45397fc337f513566b"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::updatePartitions" ref="ac343b71302f00e45397fc337f513566b" args="(std::vector< vector_uint > &partitions)" -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::updatePartitions </td>
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<p>This method executed only the neccesary part of the partition to take into account the lastest added frames. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aec138f7ff4cdcd115983b1d7b2602456" title="Add a new frame to the current graph: call this method each time a new observation is added to the ma...">addMapFrame</a> </dd></dl>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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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>out</em>, </td>
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<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </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>
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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#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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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="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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="ae889a711f5f280eaee01e5479f011c0f"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::_init_CIncrementalMapPartitioner" ref="ae889a711f5f280eaee01e5479f011c0f" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae889a711f5f280eaee01e5479f011c0f">mrpt::slam::CIncrementalMapPartitioner::_init_CIncrementalMapPartitioner</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00058">58</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a78957e22dc08441ee0be063d26cc6a04"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::classCIncrementalMapPartitioner" ref="a78957e22dc08441ee0be063d26cc6a04" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a78957e22dc08441ee0be063d26cc6a04">mrpt::slam::CIncrementalMapPartitioner::classCIncrementalMapPartitioner</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00058">58</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::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="ac7b0248a477eaf52b3e1641cac991ee5"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::classinfo" ref="ac7b0248a477eaf52b3e1641cac991ee5" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac7b0248a477eaf52b3e1641cac991ee5">mrpt::slam::CIncrementalMapPartitioner::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00058">58</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a68c6444dee3b2a30d11e887a383bffac"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::m_A" ref="a68c6444dee3b2a30d11e887a383bffac" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a68c6444dee3b2a30d11e887a383bffac">mrpt::slam::CIncrementalMapPartitioner::m_A</a><code> [private]</code></td>
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<p>Adjacency matrix. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00214">214</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="ac202e70e3c3441c05fbd16f16dc5e7b0"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::m_individualFrames" ref="ac202e70e3c3441c05fbd16f16dc5e7b0" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ac202e70e3c3441c05fbd16f16dc5e7b0">mrpt::slam::CIncrementalMapPartitioner::m_individualFrames</a><code> [private]</code></td>
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<p>El conjunto de los scans se guardan en un array: </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00208">208</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="ae7a860a87605d98118b8a4ad18d73e37"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::m_individualMaps" ref="ae7a860a87605d98118b8a4ad18d73e37" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html">mrpt::slam::CMultiMetricMap</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#ae7a860a87605d98118b8a4ad18d73e37">mrpt::slam::CIncrementalMapPartitioner::m_individualMaps</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00209">209</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aac5b5fcd23f95b65ace0c69cb1c820ad">mrpt::slam::CIncrementalMapPartitioner::m_last_last_partition_are_new_ones</a><code> [private]</code></td>
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<p>This will be true after adding new observations, and before an "updatePartitions" is invoked. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00222">222</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="aa0220ab7837fc5d1d2befb05cf32ecaf"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::m_last_partition" ref="aa0220ab7837fc5d1d2befb05cf32ecaf" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="namespacemrpt.html#aa4dc027dbc3804c847a78892a2982047">vector_uint</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa0220ab7837fc5d1d2befb05cf32ecaf">mrpt::slam::CIncrementalMapPartitioner::m_last_partition</a><code> [private]</code></td>
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<p>The last partition. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00218">218</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a0376000b379df906db5750da43ba4c17"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::m_modified_nodes" ref="a0376000b379df906db5750da43ba4c17" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><uint8_t> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a0376000b379df906db5750da43ba4c17">mrpt::slam::CIncrementalMapPartitioner::m_modified_nodes</a><code> [private]</code></td>
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<p>La lista de nodos que hay que tener en cuenta en la proxima actualizacion: </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00226">226</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="aa1aff35a962bd7361afe5ba0ef5002fc"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::options" ref="aa1aff35a962bd7361afe5ba0ef5002fc" args="" -->
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<td class="memname"> <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">mrpt::slam::CIncrementalMapPartitioner::TOptions</a> <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#aa1aff35a962bd7361afe5ba0ef5002fc">mrpt::slam::CIncrementalMapPartitioner::options</a></td>
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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>
