<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>CHierarchicalMHMap.h Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
<div class="header">
<div class="headertitle">
<div class="title">CHierarchicalMHMap.h</div> </div>
</div>
<div class="contents">
<a href="_c_hierarchical_m_h_map_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 CHierarchicalMHMap_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHierarchicalMHMap_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_h_m_h_map_node_8h.html">mrpt/hmtslam/CHMHMapNode.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_h_m_h_map_arc_8h.html">mrpt/hmtslam/CHMHMapArc.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_hierarchical_map_m_h_partition_8h.html">mrpt/hmtslam/CHierarchicalMapMHPartition.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_simple_map_8h.html">mrpt/slam/CSimpleMap.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_multi_metric_map_8h.html">mrpt/slam/CMultiMetricMap.h</a>></span>
<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
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">namespace </span>mrpt
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">namespace </span>hmtslam
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="structmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map_ptr.html#a90e37c4cc7d8124720322c079fbf4163">00045</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_hierarchical_m_h_map.html" title="The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...">CHierarchicalMHMap</a>, <a class="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="l00046"></a>00046
<a name="l00047"></a>00047 <span class="comment">/** The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.</span>
<a name="l00048"></a>00048 <span class="comment"> * This class is used within the HMT-SLAM implementation in CHMTSLAM.</span>
<a name="l00049"></a>00049 <span class="comment"> * \sa CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition</span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup mrpt_hmtslam_grp</span>
<a name="l00051"></a>00051 <span class="comment"> */</span>
<a name="l00052"></a>00052 class <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> : 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>, public <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html" title="Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map.">CHierarchicalMapMHPartition</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#ab7007eebcebfd6d6376a5f538ba2a7d7">00054</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="l00055"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#aba14e7d1bb417aaba5694b74e63ef66c">00055</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_node.html" title="A class for representing a node in a hierarchical, multi-hypothesis map.">CHMHMapNode</a>;
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00058"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a7a2d7f76557aa7e232b688f77dcd482c">00058</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_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="l00059"></a>00059 protected:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Event handler to be called just after a node has being created: it will be added to the internal list.</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a>00062 <span class="keywordtype">void</span> onNodeAddition(<a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> &node);
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Event handler to be called just after an arc has being created: it will be added to the internal list.</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a>00066 <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="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Event handler to be called just before a node is being destroyed: it will be removed from the internal list.</span>
<a name="l00069"></a>00069 <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="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a>00071 <span class="keywordtype">void</span> onNodeDestruction(<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>* node);
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.</span>
<a name="l00074"></a>00074 <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="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <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="l00077"></a>00077
<a name="l00078"></a>00078 public:<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Default constructor</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <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="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Destructor</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Save the whole graph as a XML file */</span>
<a name="l00087"></a>00087 <span class="keywordtype">void</span> dumpAsXMLfile(std::<span class="keywordtype">string</span> fileName) const;
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Load a graph from a XML file */</span>
<a name="l00090"></a>00090 <span class="keywordtype">void</span> loadFromXMLfile(std::<span class="keywordtype">string</span> fileName);
<a name="l00091"></a>00091
<a name="l00092"></a>00092
<a name="l00093"></a>00093 virtual ~CHierarchicalMHMap();
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Erase all the contents of map (It delete all nodes/arcs objects)</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> clear();
<a name="l00098"></a>00098
<a name="l00099"></a>00099 }; <span class="comment">// End of class def.</span>
<a name="l00100"></a>00100
<a name="l00101"></a>00101 } <span class="comment">// End of namespace</span>
<a name="l00102"></a>00102 } <span class="comment">// End of namespace</span>
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<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>
