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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::slam::CSimpleMap Class Reference<div class="ingroups"><a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CSimpleMap" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. </p>
<p>The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.</p>
<dl class="note"><dt><b>Note:</b></dt><dd>Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".</dd>
<dd>
Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>, CPosePDF </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_simple_map_8h_source.html">mrpt/slam/CSimpleMap.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CSimpleMap:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_simple_map__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_simple_map_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_simple_map-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::pair<br class="typebreak"/>
< <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">TPosePDFSensFramePair</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">TPosePDFSensFramePair</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a93e8e4c778da3c9ced962a401747a68e">TPosePDFSensFramePairList</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TPosePDFSensFramePairList::const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TPosePDFSensFramePairList::iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
TPosePDFSensFramePairList::reverse_iterator </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
TPosePDFSensFramePairList::const_reverse_iterator </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a></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_simple_map.html#ae6d19e68ff0734ae2d03e036f84a6502">CSimpleMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ae6d19e68ff0734ae2d03e036f84a6502"></a><br/></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_simple_map.html#acb5538111af9efc707b7813fb41574df">CSimpleMap</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor. <a href="#acb5538111af9efc707b7813fb41574df"></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_simple_map.html#af3eb182e662d524f89b6a692473c16cf">operator=</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor. <a href="#af3eb182e662d524f89b6a692473c16cf"></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_simple_map.html#a2c81a4e4547902118d77eb62233241cc">~CSimpleMap</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor: <a href="#a2c81a4e4547902118d77eb62233241cc"></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_simple_map.html#ab7e032e11998fd2712c3c6201b36d1e5">saveToFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save this object to a .simplemap binary file (compressed with gzip) <a href="#ab7e032e11998fd2712c3c6201b36d1e5"></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_simple_map.html#add45b0ea7ab64d29166dc1a4b36ba410">loadFromFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) <a href="#add45b0ea7ab64d29166dc1a4b36ba410"></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_1slam_1_1_c_simple_map.html#ab5a2ee8fd2c884520c1ca9f861cf730e">size</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the pairs count. <a href="#ab5a2ee8fd2c884520c1ca9f861cf730e"></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_simple_map.html#a843798d107f510c91ef84b941d181d5a">get</a> (size_t index, <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &out_posePDF, <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &out_SF) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to the i'th pair, first one is index '0'. <a href="#a843798d107f510c91ef84b941d181d5a"></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_simple_map.html#af3ce586e31c2e24c8cd3efe2e75a1e15">set</a> (size_t index, const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the i'th pair, first one is index '0'. <a href="#af3ce586e31c2e24c8cd3efe2e75a1e15"></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_simple_map.html#ab3aa10152a2df9d3e6beabbb2a858129">set</a> (size_t index, const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the i'th pair, first one is index '0'. <a href="#ab3aa10152a2df9d3e6beabbb2a858129"></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_simple_map.html#af5ef6f5f48612178751f8d8633621e45">remove</a> (size_t index)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Deletes the i'th pair, first one is index '0'. <a href="#af5ef6f5f48612178751f8d8633621e45"></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_simple_map.html#ac7c2b74b4e47a1b27de2d91040bd5d20">insert</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> *in_posePDF, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence. <a href="#ac7c2b74b4e47a1b27de2d91040bd5d20"></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_simple_map.html#a4d8a494d4da84008c97d9995f3f0a62d">insert</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> *in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). <a href="#a4d8a494d4da84008c97d9995f3f0a62d"></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_simple_map.html#a2e9cb77e150fc352c85052ce5d4b9e48">insert</a> (const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). <a href="#a2e9cb77e150fc352c85052ce5d4b9e48"></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_simple_map.html#acf975e7a0ed1d74e5ae23f50c15c1b57">insert</a> (const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence. <a href="#acf975e7a0ed1d74e5ae23f50c15c1b57"></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_simple_map.html#a3850cb417ec1cc0f1466be1508e60447">insert</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> *in_posePDF, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence. <a href="#a3850cb417ec1cc0f1466be1508e60447"></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_simple_map.html#ae3e12350c5015e3b3f9cf5640bfe19f6">insert</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> *in_posePDF, const <a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> &in_SF)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a new pair to the sequence. <a href="#ae3e12350c5015e3b3f9cf5640bfe19f6"></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_simple_map.html#a63b0c2b386a6709e378c3b74cee1bb57">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove all stored pairs. <a href="#a63b0c2b386a6709e378c3b74cee1bb57"></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_simple_map.html#a506e66a6ae3cc9d5448d8333867b0509">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="#a506e66a6ae3cc9d5448d8333867b0509"></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#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a81f0d23b6a41b61ebd6a9f9d328b8c42">begin</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a86f1d181a88832e67806e8946fdf8577">end</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a7f42c44b4a630e0bd30f50660bf0889c">begin</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a45b77305a68694efc57cbb1468f363c2">end</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ab2d4aebe129f7a5f789e53f60f399ad5">rbegin</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#aa4dc6fa729952277feb2ca122c26b6d0">rend</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac72bfc8e5249092b1b9c567afe99ea09">rbegin</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad55cc781436bc7caa89a3ca562c04016">rend</a> ()</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-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>
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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#a93e8e4c778da3c9ced962a401747a68e">TPosePDFSensFramePairList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a9aac79544ddcceb9df0674106ee9f79c">m_posesObsPairs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The stored data. <a href="#a9aac79544ddcceb9df0674106ee9f79c"></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 <a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af9e3846a2ae0776d1f00a9fa67e50503">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_simple_map.html#a03f561c153fee06ed25858d1fe9f20e7">_init_CSimpleMap</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_simple_map.html#a00f46db0f95a9b0ac24735783b90255e">classCSimpleMap</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_simple_map.html#a4823d8d5cd094e108272f66e162f5ac3">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_simple_map.html#a92be87aec960bd0267d9ea56dd79344e">_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_simple_map.html#abf2c057713e17cf52c524836a2bd6ac1">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="#abf2c057713e17cf52c524836a2bd6ac1"></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_simple_map.html#a6d025252ed5f6b5f4e0a4e3ddc416b7f">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="#a6d025252ed5f6b5f4e0a4e3ddc416b7f"></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_simple_map.html#ac257da9c72298294ff3be009930ffe0e">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a7b95864f434e7576d7a1eebeefb66cdc">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ad26ccef686337d3abd08e08a8533b25b"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::const_iterator" ref="ad26ccef686337d3abd08e08a8533b25b" args="" -->
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<td class="memname">typedef <a class="el" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TPosePDFSensFramePairList::const_iterator</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">mrpt::slam::CSimpleMap::const_iterator</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00161">161</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a1d4ed517893b5eb7ebd987392ef54c15"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::const_reverse_iterator" ref="a1d4ed517893b5eb7ebd987392ef54c15" args="" -->
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<td class="memname">typedef TPosePDFSensFramePairList::const_reverse_iterator <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">mrpt::slam::CSimpleMap::const_reverse_iterator</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00164">164</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a0db96e292c22c047f46f0b5daae91c82"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::iterator" ref="a0db96e292c22c047f46f0b5daae91c82" args="" -->
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<td class="memname">typedef <a class="el" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TPosePDFSensFramePairList::iterator</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">mrpt::slam::CSimpleMap::iterator</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00162">162</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a120bbece4547e1cad83b0cab56e105b6"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::reverse_iterator" ref="a120bbece4547e1cad83b0cab56e105b6" args="" -->
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<td class="memname">typedef TPosePDFSensFramePairList::reverse_iterator <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">mrpt::slam::CSimpleMap::reverse_iterator</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00163">163</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="af9e3846a2ae0776d1f00a9fa67e50503"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::SmartPtr" ref="af9e3846a2ae0776d1f00a9fa67e50503" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af9e3846a2ae0776d1f00a9fa67e50503">mrpt::slam::CSimpleMap::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_simple_map_8h_source.html#l00055">55</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="ac5c1bf8a3cbb8dccf8dddbb78b90d040"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::TPosePDFSensFramePair" ref="ac5c1bf8a3cbb8dccf8dddbb78b90d040" args="" -->
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<td class="memname">typedef std::pair<<a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a>,<a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">mrpt::slam::CSimpleMap::TPosePDFSensFramePair</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00158">158</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a93e8e4c778da3c9ced962a401747a68e"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::TPosePDFSensFramePairList" ref="a93e8e4c778da3c9ced962a401747a68e" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac5c1bf8a3cbb8dccf8dddbb78b90d040">TPosePDFSensFramePair</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a93e8e4c778da3c9ced962a401747a68e">mrpt::slam::CSimpleMap::TPosePDFSensFramePairList</a></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00159">159</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
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<td class="memname">mrpt::slam::CSimpleMap::CSimpleMap </td>
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<p>Constructor. </p>
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<td class="memname">mrpt::slam::CSimpleMap::CSimpleMap </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">CSimpleMap</a> & </td>
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<p>Copy constructor. </p>
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<td class="memname">virtual mrpt::slam::CSimpleMap::~CSimpleMap </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>
<a class="anchor" id="a92be87aec960bd0267d9ea56dd79344e"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::_GetBaseClass" ref="a92be87aec960bd0267d9ea56dd79344e" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::slam::CSimpleMap::_GetBaseClass </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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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> mrpt::slam::CSimpleMap::begin </td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00167">167</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> mrpt::slam::CSimpleMap::begin </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00169">169</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a506e66a6ae3cc9d5448d8333867b0509"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::changeCoordinatesOrigin" ref="a506e66a6ae3cc9d5448d8333867b0509" args="(const CPose3D &newOrigin)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::changeCoordinatesOrigin </td>
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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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<td class="memname">void mrpt::slam::CSimpleMap::clear </td>
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<p>Remove all stored pairs. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af5ef6f5f48612178751f8d8633621e45" title="Deletes the i'th pair, first one is index '0'.">remove</a> </dd></dl>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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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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<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a7b95864f434e7576d7a1eebeefb66cdc"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::Create" ref="a7b95864f434e7576d7a1eebeefb66cdc" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_simple_map_ptr.html">CSimpleMapPtr</a> mrpt::slam::CSimpleMap::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CSimpleMap::CreateObject </td>
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<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="a6d025252ed5f6b5f4e0a4e3ddc416b7f"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::duplicate" ref="a6d025252ed5f6b5f4e0a4e3ddc416b7f" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CSimpleMap::duplicate </td>
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<td class="paramname"></td><td>)</td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ad26ccef686337d3abd08e08a8533b25b">const_iterator</a> mrpt::slam::CSimpleMap::end </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00168">168</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a0db96e292c22c047f46f0b5daae91c82">iterator</a> mrpt::slam::CSimpleMap::end </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00170">170</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a843798d107f510c91ef84b941d181d5a"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::get" ref="a843798d107f510c91ef84b941d181d5a" args="(size_t index, CPose3DPDFPtr &out_posePDF, CSensoryFramePtr &out_SF) const " -->
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<td class="memname">void mrpt::slam::CSimpleMap::get </td>
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<td class="paramtype">size_t </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> & </td>
<td class="paramname"><em>out_posePDF</em>, </td>
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<td class="paramtype"><a class="el" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">CSensoryFramePtr</a> & </td>
<td class="paramname"><em>out_SF</em> </td>
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<td>)</td>
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<p>Access to the i'th pair, first one is index '0'. </p>
<p>NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so <b>do neither modify them nor delete them</b>. NOTE: You can pass a NULL pointer if you dont need one of the two variables to be returned. </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>On index out of bounds. </td></tr>
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<a class="anchor" id="abf2c057713e17cf52c524836a2bd6ac1"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::GetRuntimeClass" ref="abf2c057713e17cf52c524836a2bd6ac1" 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::CSimpleMap::GetRuntimeClass </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="ac7c2b74b4e47a1b27de2d91040bd5d20"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="ac7c2b74b4e47a1b27de2d91040bd5d20" args="(const CPose3DPDF *in_posePDF, const CSensoryFrame &in_SF)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::insert </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> * </td>
<td class="paramname"><em>in_posePDF</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
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<p>Add a new pair to the sequence. </p>
<p>The objects are copied, so original ones can be free if desired after insertion. </p>
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<a class="anchor" id="a4d8a494d4da84008c97d9995f3f0a62d"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="a4d8a494d4da84008c97d9995f3f0a62d" args="(const CPose3DPDF *in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::insert </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>
<td class="paramname"><em>in_SF</em> </td>
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<p>Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). </p>
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<a class="anchor" id="a2e9cb77e150fc352c85052ce5d4b9e48"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="a2e9cb77e150fc352c85052ce5d4b9e48" args="(const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::insert </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>
<td class="paramname"><em>in_posePDF</em>, </td>
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<td></td>
<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>in_SF</em> </td>
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<p>Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique). </p>
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<a class="anchor" id="acf975e7a0ed1d74e5ae23f50c15c1b57"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="acf975e7a0ed1d74e5ae23f50c15c1b57" args="(const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td></td>
<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>in_SF</em> </td>
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<p>Add a new pair to the sequence. </p>
<p>The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version. </p>
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<a class="anchor" id="a3850cb417ec1cc0f1466be1508e60447"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="a3850cb417ec1cc0f1466be1508e60447" args="(const CPosePDF *in_posePDF, const CSensoryFrame &in_SF)" -->
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<td class="paramname"><em>in_posePDF</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">CSensoryFrame</a> & </td>
<td class="paramname"><em>in_SF</em> </td>
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<p>Add a new pair to the sequence. </p>
<p>The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version. </p>
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<a class="anchor" id="ae3e12350c5015e3b3f9cf5640bfe19f6"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::insert" ref="ae3e12350c5015e3b3f9cf5640bfe19f6" args="(const CPosePDF *in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td>(</td>
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<td class="paramname"><em>in_posePDF</em>, </td>
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<td class="paramkey"></td>
<td></td>
<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>in_SF</em> </td>
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<p>Add a new pair to the sequence. </p>
<p>The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version. </p>
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<p>Load the contents of this object from a .simplemap binary file (possibly compressed with gzip) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ab7e032e11998fd2712c3c6201b36d1e5" title="Save this object to a .simplemap binary file (compressed with gzip)">saveToFile</a> </dd></dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error. </dd></dl>
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<p>Copy constructor. </p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> mrpt::slam::CSimpleMap::rbegin </td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00172">172</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> mrpt::slam::CSimpleMap::rbegin </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00174">174</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::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>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="af5ef6f5f48612178751f8d8633621e45"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::remove" ref="af5ef6f5f48612178751f8d8633621e45" args="(size_t index)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::remove </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>index</em></td><td>)</td>
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<p>Deletes the i'th pair, first one is index '0'. </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>On index out of bounds. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac7c2b74b4e47a1b27de2d91040bd5d20" title="Add a new pair to the sequence.">insert</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a843798d107f510c91ef84b941d181d5a" title="Access to the i'th pair, first one is index '0'.">get</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af3ce586e31c2e24c8cd3efe2e75a1e15" title="Changes the i'th pair, first one is index '0'.">set</a> </dd></dl>
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<a class="anchor" id="aa4dc6fa729952277feb2ca122c26b6d0"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::rend" ref="aa4dc6fa729952277feb2ca122c26b6d0" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a1d4ed517893b5eb7ebd987392ef54c15">const_reverse_iterator</a> mrpt::slam::CSimpleMap::rend </td>
<td>(</td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00173">173</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="ad55cc781436bc7caa89a3ca562c04016"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::rend" ref="ad55cc781436bc7caa89a3ca562c04016" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a120bbece4547e1cad83b0cab56e105b6">reverse_iterator</a> mrpt::slam::CSimpleMap::rend </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00175">175</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="ab7e032e11998fd2712c3c6201b36d1e5"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::saveToFile" ref="ab7e032e11998fd2712c3c6201b36d1e5" args="(const std::string &filName) const " -->
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<td class="memname">bool mrpt::slam::CSimpleMap::saveToFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filName</em></td><td>)</td>
<td> const</td>
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<p>Save this object to a .simplemap binary file (compressed with gzip) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#add45b0ea7ab64d29166dc1a4b36ba410" title="Load the contents of this object from a .simplemap binary file (possibly compressed with gzip)...">loadFromFile</a> </dd></dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error. </dd></dl>
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<a class="anchor" id="af3ce586e31c2e24c8cd3efe2e75a1e15"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::set" ref="af3ce586e31c2e24c8cd3efe2e75a1e15" args="(size_t index, const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::set </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>index</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>in_posePDF</em>, </td>
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<td class="paramkey"></td>
<td></td>
<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>in_SF</em> </td>
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<p>Changes the i'th pair, first one is index '0'. </p>
<p>The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). </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>On index out of bounds. </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac7c2b74b4e47a1b27de2d91040bd5d20" title="Add a new pair to the sequence.">insert</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a843798d107f510c91ef84b941d181d5a" title="Access to the i'th pair, first one is index '0'.">get</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af5ef6f5f48612178751f8d8633621e45" title="Deletes the i'th pair, first one is index '0'.">remove</a> </dd></dl>
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<a class="anchor" id="ab3aa10152a2df9d3e6beabbb2a858129"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::set" ref="ab3aa10152a2df9d3e6beabbb2a858129" args="(size_t index, const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)" -->
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<td class="memname">void mrpt::slam::CSimpleMap::set </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>index</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> & </td>
<td class="paramname"><em>in_posePDF</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<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>in_SF</em> </td>
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<p>Changes the i'th pair, first one is index '0'. </p>
<p>The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version. </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>On index out of bounds. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#ac7c2b74b4e47a1b27de2d91040bd5d20" title="Add a new pair to the sequence.">insert</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a843798d107f510c91ef84b941d181d5a" title="Access to the i'th pair, first one is index '0'.">get</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#af5ef6f5f48612178751f8d8633621e45" title="Deletes the i'th pair, first one is index '0'.">remove</a> </dd></dl>
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<a class="anchor" id="ab5a2ee8fd2c884520c1ca9f861cf730e"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::size" ref="ab5a2ee8fd2c884520c1ca9f861cf730e" args="() const " -->
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<td class="memname">size_t mrpt::slam::CSimpleMap::size </td>
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<p>Returns the pairs count. </p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<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>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#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::CSimpleMap::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="a03f561c153fee06ed25858d1fe9f20e7"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::_init_CSimpleMap" ref="a03f561c153fee06ed25858d1fe9f20e7" 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_simple_map.html#a03f561c153fee06ed25858d1fe9f20e7">mrpt::slam::CSimpleMap::_init_CSimpleMap</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00055">55</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::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::CSimpleMap::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="a00f46db0f95a9b0ac24735783b90255e"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::classCSimpleMap" ref="a00f46db0f95a9b0ac24735783b90255e" 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_simple_map.html#a00f46db0f95a9b0ac24735783b90255e">mrpt::slam::CSimpleMap::classCSimpleMap</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00055">55</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a4823d8d5cd094e108272f66e162f5ac3"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::classinfo" ref="a4823d8d5cd094e108272f66e162f5ac3" 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_simple_map.html#a4823d8d5cd094e108272f66e162f5ac3">mrpt::slam::CSimpleMap::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00055">55</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.h</a>.</p>
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<a class="anchor" id="a9aac79544ddcceb9df0674106ee9f79c"></a><!-- doxytag: member="mrpt::slam::CSimpleMap::m_posesObsPairs" ref="a9aac79544ddcceb9df0674106ee9f79c" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a93e8e4c778da3c9ced962a401747a68e">TPosePDFSensFramePairList</a> <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a9aac79544ddcceb9df0674106ee9f79c">mrpt::slam::CSimpleMap::m_posesObsPairs</a><code> [private]</code></td>
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<p>The stored data. </p>
<p>Definition at line <a class="el" href="_c_simple_map_8h_source.html#l00179">179</a> of file <a class="el" href="_c_simple_map_8h_source.html">CSimpleMap.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>
