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<div class="title">[mrpt-hmtslam]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
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<h2>Library <code>mrpt-hmtslam</code></h2>
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<p>This library includes an implementation of the HMT-SLAM framework. See the list of classes in <a class="el" href="namespacemrpt_1_1hmtslam.html" title="Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.">mrpt::hmtslam</a>, and the application hmt-slam-gui. </p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html">mrpt::hmtslam::CHierarchicalMapMHPartition</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html">mrpt::hmtslam::CHierarchicalMHMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. <a href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html">mrpt::hmtslam::CHMHMapArc</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html">mrpt::hmtslam::CHMHMapNode</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A class for representing a node in a hierarchical, multi-hypothesis map. <a href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">mrpt::hmtslam::CHMTSLAM</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). <a href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html">mrpt::hmtslam::CLSLAMParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). <a href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html">mrpt::hmtslam::CRobotPosesGraph</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH. <a href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map.html">mrpt::hmtslam::CTopLCDetector_FabMap</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching.html">mrpt::hmtslam::CTopLCDetector_GridMatching</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html">mrpt::hmtslam::CTopLCDetectorBase</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. <a href="classmrpt_1_1hmtslam_1_1_c_top_l_c_detector_base.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html">mrpt::hmtslam::THypothesisIDSet</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. <a href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1hmtslam.html">mrpt::hmtslam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM. </p>
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