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<div class="title">CHMHMapNode.h</div> </div>
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<a href="_c_h_m_h_map_node_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CHMHMapNode_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHMHMapNode_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="safe__pointers_8h.html">mrpt/utils/safe_pointers.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="stl__extensions_8h.html">mrpt/utils/stl_extensions.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_sensory_frame_8h.html">mrpt/slam/CSensoryFrame.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_h_m_t___s_l_a_m__common_8h.html">mrpt/hmtslam/HMT_SLAM_common.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_m_h_properties_values_list_8h.html">mrpt/utils/CMHPropertiesValuesList.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_type_selector_8h.html">mrpt/utils/CTypeSelector.h</a>></span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="keyword">namespace </span>mrpt
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="keyword">namespace </span>hmtslam
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="namespacemrpt_1_1hmtslam.html#a03ca95eaf76e1ec7fa482fe49968001f">CHierarchicalMHMap</a>;
<a name="l00047"></a><a class="code" href="namespacemrpt_1_1hmtslam.html#a22d9940d4ab49be27c1e0cf5f943a91a">00047</a> <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">CHMHMapArc</a>;
<a name="l00048"></a>00048
<a name="l00049"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html#ab97e3dd773623f47e7f514dfed7e1367">00049</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a>,<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> )
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="comment">/** A class for representing a node in a hierarchical, multi-hypothesis map.</span>
<a name="l00052"></a>00052 <span class="comment"> * The node itself will be considered only if some given hypothesisID matchs its own ID.</span>
<a name="l00053"></a>00053 <span class="comment"> * \note Create objects by invoking the class factory "::Create"</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> * \sa CHierarchicalMHMap,CHMHMapArc</span>
<a name="l00056"></a>00056 <span class="comment"> * \ingroup mrpt_hmtslam_grp</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 class <a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00059"></a>00059 {
<a name="l00060"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a0aaaa666eb9470fa122ac9a52def263d">00060</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a>;
<a name="l00061"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a216edec151017775ee678f965dc0a7ec">00061</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> CHierarchicalMHMapPartition;
<a name="l00062"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#ab7007eebcebfd6d6376a5f538ba2a7d7">00062</a> <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">CHMHMapArc</a>;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00065"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a553e5f5502b7d9d6c1c7e7d4a400f938">00065</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a> )
<a name="l00066"></a>00066
<a name="l00067"></a>00067 public:<span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** The type of the IDs of nodes.</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e">00070</a> typedef mrpt::utils::<a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e" title="The type of the IDs of nodes.">TNodeID</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a4320fd5748b07f6fdb6dd1bdc5b3920e" title="The type of the IDs of nodes.">TNodeID</a>;
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** The hypothesis IDs under which this node exists.</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#af855888ab90886b8b6fef89cd4fb0cd2">00074</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html" title="A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.">THypothesisIDSet</a> m_hypotheses;
<a name="l00075"></a>00075
<a name="l00076"></a>00076 protected:<span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** An unique identifier for the node: it is randomly generated at construction or read from stream when loaded.</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#ac6e39588333177b2c5c01c181bc7f31a">00079</a> TNodeID m_ID;
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** The list of all arcs from/to this node:</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#ad09fef3551bba14917eca4e17b034549">00083</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html" title="A class for storing a sequence of arcs (a path).">TArcList</a> m_arcs;
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Event handler for arc destruction: It should be only called for arcs from/to this node, altought other case must be handled without effects.</span>
<a name="l00086"></a>00086 <span class="comment"> * \note At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 <span class="keywordtype">void</span> onArcDestruction(<a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html" title="A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...">CHMHMapArc</a> *arc);
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Event handler for arc addition: It should be only called for arcs from/to this node, altought other cases have no effects.</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">void</span> onArcAddition(<a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> &arc);
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** The hierarchical graph in which this object is into.</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a829547d35d4a50574b5d668232dbd901">00096</a> <a class="code" href="structmrpt_1_1utils_1_1safe__ptr.html" title="A wrapper class for pointers that can be safely copied with "=" operator without problems.">safe_ptr</a><<a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a>> m_parent;
<a name="l00097"></a>00097
<a name="l00098"></a>00098 private:<span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Private constructor (see ::Create class factory)</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a>00101 <a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a>(
<a name="l00102"></a>00102 <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a> *parent = NULL,
<a name="l00103"></a>00103 const <a class="code" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html" title="A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.">THypothesisIDSet</a> &hyps = <a class="code" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html" title="A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.">THypothesisIDSet</a>() );
<a name="l00104"></a>00104
<a name="l00105"></a>00105 public:<span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Class factory</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 static <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> Create(
<a name="l00109"></a>00109 <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a> *parent = NULL,
<a name="l00110"></a>00110 const THypothesisIDSet &hyps = THypothesisIDSet() );
<a name="l00111"></a>00111 <span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Destructor</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 virtual ~<a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a>();
<a name="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** The annotations of the node, see the general description of the class for possible properties and values.</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#af870b207f669a066d9b22aa55764d81a">00118</a> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_m_h_properties_values_list.html" title="An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable ...">CMHPropertiesValuesList</a> m_annotations;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** The type of the node, the possibilities are:</span>
<a name="l00121"></a>00121 <span class="comment"> * - Place</span>
<a name="l00122"></a>00122 <span class="comment"> * - Area</span>
<a name="l00123"></a>00123 <span class="comment"> * - TopologicalMap</span>
<a name="l00124"></a>00124 <span class="comment"> * - Object</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#aef34c940c2b89eb504874d380f105bb5">00126</a> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_type_selector.html" title="This class represents a std::string derived class which is also CSerializable.">CTypeSelector</a> m_nodeType;
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** Reads the ID of the node (read-only property)</span>
<a name="l00129"></a>00129 <span class="comment"> */</span>
<a name="l00130"></a>00130 TNodeID getID() const;
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** The label of the node, only for display it to the user.</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#a6070f449a0017d4b0295eaaa612caee2">00134</a> std::<span class="keywordtype">string</span> m_label;
<a name="l00135"></a>00135 <span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment"> /** Returns the level of this node in the hierarchy of arcs "arcType_Belongs", where level=0 is the ground level, 1=its parents, etc.</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a>00138 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getLevelInTheHierarchy();
<a name="l00139"></a>00139 <span class="comment"></span>
<a name="l00140"></a>00140 <span class="comment"> /** Returns the number of arcs starting from/ending into this node.</span>
<a name="l00141"></a>00141 <span class="comment"> */</span>
<a name="l00142"></a>00142 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getRelatedArcsCount();
<a name="l00143"></a>00143 <span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Returns a list with the arcs from/to this node.</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#ae349ced4976d7aa08d4a0a748ce81111">00146</a> <span class="keywordtype">void</span> getArcs( <a class="code" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html" title="A class for storing a sequence of arcs (a path).">TArcList</a> &out )<span class="keyword"> const</span>
<a name="l00147"></a>00147 <span class="keyword"> </span>{
<a name="l00148"></a>00148 out = m_arcs;
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** Returns a list with the arcs from/to this node existing in a given hypothesis ID.</span>
<a name="l00152"></a>00152 <span class="comment"> */</span>
<a name="l00153"></a>00153 <span class="keywordtype">void</span> getArcs( <a class="code" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html" title="A class for storing a sequence of arcs (a path).">TArcList</a> &out, <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee" title="An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...">THypothesisID</a> &hyp_id ) <span class="keyword">const</span>;
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Returns a list with the arcs from/to this node existing in a given hypothesis ID and of a given type.</span>
<a name="l00156"></a>00156 <span class="comment"> */</span>
<a name="l00157"></a>00157 <span class="keywordtype">void</span> getArcs( <a class="code" href="classmrpt_1_1hmtslam_1_1_t_arc_list.html" title="A class for storing a sequence of arcs (a path).">TArcList</a> &out, <span class="keyword">const</span> <span class="keywordtype">char</span> *arcType, <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee" title="An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...">THypothesisID</a> &hyp_id ) <span class="keyword">const</span>;
<a name="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /** Check whether an arc exists towards the given area */</span>
<a name="l00160"></a>00160 <span class="keywordtype">bool</span> isNeighbor(<span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7" title="The type for node IDs in graphs of different types.">TNodeID</a> &otherArea, <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1hmtslam.html#a6a8c7a5cb874400f4df9d1fd6b6ff9ee" title="An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...">THypothesisID</a> &hyp_id ) <span class="keyword">const</span>;
<a name="l00161"></a>00161
<a name="l00162"></a>00162 }; <span class="comment">// End of class def.</span>
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** A map between node IDs and nodes (used in HMT-SLAM).</span>
<a name="l00166"></a>00166 <span class="comment"> * \sa CHMTSLAM</span>
<a name="l00167"></a>00167 <span class="comment"> */</span>
<a name="l00168"></a><a class="code" href="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40">00168</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1map.html">::map<CHMHMapNode::TNodeID,CHMHMapNodePtr></a> <a class="code" href="namespacemrpt_1_1hmtslam.html#a04795d80cac41d58249a613e7f3c4f40" title="A map between node IDs and nodes (used in HMT-SLAM).">TNodeList</a>;
<a name="l00169"></a><a class="code" href="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">00169</a> <span class="keyword">typedef</span> <a class="code" href="classmrpt_1_1utils_1_1list__searchable.html">list_searchable<CHMHMapNode::TNodeID></a> <a class="code" href="namespacemrpt_1_1hmtslam.html#af24315db2125723962f15ddf815ca4cd">TNodeIDList</a>;
<a name="l00170"></a><a class="code" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">00170</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1set.html">::set<CHMHMapNode::TNodeID></a> <a class="code" href="namespacemrpt_1_1hmtslam.html#a5bcc3f9cba9de3b8239a394d63c3ce66">TNodeIDSet</a>;
<a name="l00171"></a><a class="code" href="namespacemrpt_1_1hmtslam.html#a416a0ed6fd6d43024641067ef316f7f2">00171</a> <span class="keyword">typedef</span> std::pair<CHMHMapNode::TNodeID,CHMHMapNode::TNodeID> <a class="code" href="namespacemrpt_1_1hmtslam.html#a416a0ed6fd6d43024641067ef316f7f2">TPairNodeIDs</a>;
<a name="l00172"></a>00172
<a name="l00173"></a>00173 } <span class="comment">// End of namespace</span>
<a name="l00174"></a>00174 } <span class="comment">// End of namespace</span>
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="preprocessor">#endif</span>
</pre></div></div>
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