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<div class="title">CHierarchicalMapMHPartition.h</div> </div>
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<a href="_c_hierarchical_map_m_h_partition_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 CHierarchicalMapMHPartition_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CHierarchicalMapMHPartition_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_local_metric_hypothesis_8h.html">mrpt/hmtslam/CLocalMetricHypothesis.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_h_m_h_map_node_8h.html">mrpt/hmtslam/CHMHMapNode.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_s_o_g_8h.html">mrpt/poses/CPose3DPDFSOG.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DPDFGaussian.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_debug_output_capable_8h.html">mrpt/utils/CDebugOutputCapable.h</a>></span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#include <map></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="keyword">namespace </span>mrpt
<a name="l00042"></a>00042 {
<a name="l00043"></a><a class="code" href="namespacemrpt_1_1opengl.html">00043</a> <span class="keyword">namespace </span>opengl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">class </span><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a>;
<a name="l00046"></a>00046 }
<a name="l00047"></a>00047 <span class="keyword">namespace </span>poses
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="keyword">class </span>CPose3DPDFParticles;
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="namespacemrpt_1_1hmtslam.html">00052</a> <span class="keyword">namespace </span>hmtslam
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="keyword">using namespace </span>mrpt::opengl;
<a name="l00055"></a>00055 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00056"></a>00056 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map.</span>
<a name="l00059"></a>00059 <span class="comment"> * A usar will never create an instance of this class, rather it will employ CHierarchicalMHMap.</span>
<a name="l00060"></a>00060 <span class="comment"> * \sa CHierarchicalMHMap, CHMHMapArc, CHMHMapNode</span>
<a name="l00061"></a>00061 <span class="comment"> * \ingroup mrpt_hmtslam_grp</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <span class="keyword">class </span><a class="code" href="hmtslam__impexp_8h.html#a4f5ef02557cd461c7f3eb0eb04684aca">HMTSLAM_IMPEXP</a> CHierarchicalMapMHPartition : <span class="keyword">public</span> mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_debug_output_capable.html" title="This base class provides a common printf-like method to send debug information to std::cout...">CDebugOutputCapable</a>
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** The internal list of nodes and arcs in the whole hierarchical model.</span>
<a name="l00067"></a>00067 <span class="comment"> * The objects must be deleted only in the CHierarchicalMap class, not in partitions only objects.</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a97f44ac662f858ab9a8cd33c128713a9">00069</a> <a class="code" href="classstd_1_1map.html">TNodeList</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a97f44ac662f858ab9a8cd33c128713a9" title="The internal list of nodes and arcs in the whole hierarchical model.">m_nodes</a>;
<a name="l00070"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a98c8bce19fc619cc1501c8609aa02b19">00070</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> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a98c8bce19fc619cc1501c8609aa02b19">m_arcs</a>;
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keyword">public</span>:
<a name="l00073"></a>00073
<a name="l00074"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">00074</a> <span class="keyword">typedef</span> <a class="code" href="classstd_1_1map.html">TNodeList</a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">::iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a>;
<a name="l00075"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">00075</a> <span class="keyword">typedef</span> <a class="code" href="classstd_1_1map.html">TNodeList</a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">::const_iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a>;
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Returns an iterator to the first node in the graph. */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a40e2b001643129d01a918a93ac9c0342">00078</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a40e2b001643129d01a918a93ac9c0342" title="Returns an iterator to the first node in the graph.">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_nodes.begin(); }
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Returns an iterator to the first node in the graph. */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a081345afbc77fd978d81f92a6fbddd14">00081</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a081345afbc77fd978d81f92a6fbddd14" title="Returns an iterator to the first node in the graph.">begin</a>() { <span class="keywordflow">return</span> m_nodes.begin(); }
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Returns an iterator to the end of the list of nodes in the graph. */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a621f610599770cf97997b96e311ce5bb">00084</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a7cb6ba1d89b2ead39c44de1d063bbd88">const_iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a621f610599770cf97997b96e311ce5bb" title="Returns an iterator to the end of the list of nodes in the graph.">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_nodes.end(); }
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Returns an iterator to the end of the list of nodes in the graph. */</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a1766a6c49ac6d6b2cf75d2763f906a4c">00087</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#abda92fb19cccffd38ecd7ec9c48adcda">iterator</a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#a1766a6c49ac6d6b2cf75d2763f906a4c" title="Returns an iterator to the end of the list of nodes in the graph.">end</a>() { <span class="keywordflow">return</span> m_nodes.end(); }
<a name="l00088"></a>00088
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#ada400d868d635ea522eb03184c467be0">00090</a> CHierarchicalMapMHPartition() : m_nodes(), m_arcs()
<a name="l00091"></a>00091 { }
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** A type that reprensents a sequence of node IDs</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a><a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#af915c2c6abe58d01a68140a58e01e9ac">00095</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<CHMHMapNode::TNodeID></a> <a class="code" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_map_m_h_partition.html#af915c2c6abe58d01a68140a58e01e9ac" title="A type that reprensents a sequence of node IDs.">TNodeIDsList</a>;
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Returns the number of nodes in the partition:</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 <span class="keywordtype">size_t</span> nodeCount() <span class="keyword">const</span>;
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Returns the number of arcs in the partition:</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a>00103 <span class="keywordtype">size_t</span> arcCount() <span class="keyword">const</span>;
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** Returns the first node in the graph, or NULL if it does not exist.</span>
<a name="l00106"></a>00106 <span class="comment"> * \return A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a>00108 <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> getFirstNode();
<a name="l00109"></a>00109 <span class="comment"></span>
<a name="l00110"></a>00110 <span class="comment"> /** Returns the node with the given ID, or NULL if it does not exist.</span>
<a name="l00111"></a>00111 <span class="comment"> * \return A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> getNodeByID(<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.">CHMHMapNode::TNodeID</a> <span class="keywordtype">id</span>);
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Returns the node with the given ID, or NULL if it does not exist.</span>
<a name="l00116"></a>00116 <span class="comment"> * \return A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> getNodeByID(<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.">CHMHMapNode::TNodeID</a> <span class="keywordtype">id</span>) <span class="keyword">const</span>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.</span>
<a name="l00121"></a>00121 <span class="comment"> * \return A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a>00123 <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> getNodeByLabel(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &label, <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> &hypothesisID );
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Returns the node with the given label (case insensitive) for some given hypothesis ID, or NULL if it does not exist.</span>
<a name="l00126"></a>00126 <span class="comment"> * \return A pointer to the object. DO NOT DELETE this object, if you want to modify it in someway, first obtain a copy by invoking "CSerializable::duplicate"</span>
<a name="l00127"></a>00127 <span class="comment"> */</span>
<a name="l00128"></a>00128 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_node_ptr.html">CHMHMapNodePtr</a> getNodeByLabel(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &label, <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> &hypothesisID) <span class="keyword">const</span>;
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Returns a partition of this graph only with nodes at a given level in the hierarchy (0=ground level,1=parent level,etc)</span>
<a name="l00131"></a>00131 <span class="comment"> * - The partition may be empty if no node fulfills the condition.</span>
<a name="l00132"></a>00132 <span class="comment"> * - All arcs STARTING at each node from the partition will be added to the partition as well.</span>
<a name="l00133"></a>00133 <span class="comment"> * - Levels in the hierarchy here stands for arcs of type "arcType_Belongs" only.</span>
<a name="l00134"></a>00134 <span class="comment"> * \sa CHMHMapArc</span>
<a name="l00135"></a>00135 <span class="comment"> */</span>
<a name="l00136"></a>00136 <span class="comment">//CHierarchicalMapMHPartition getPartitionByHiearchyLevel( unsigned int level );</span>
<a name="l00137"></a>00137 <span class="comment"></span>
<a name="l00138"></a>00138 <span class="comment"> /** Saves a MATLAB script that represents graphically the nodes with <i>type</i>="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference.</span>
<a name="l00139"></a>00139 <span class="comment"> * ADDITIONAL NOTES:</span>
<a name="l00140"></a>00140 <span class="comment"> * - Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</span>
<a name="l00141"></a>00141 <span class="comment"> * - If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a>00143 <span class="keywordtype">void</span> saveAreasDiagramForMATLAB(
<a name="l00144"></a>00144 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName,
<a name="l00145"></a>00145 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &idReferenceNode,
<a name="l00146"></a>00146 <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> &hypothesisID) <span class="keyword">const</span>;
<a name="l00147"></a>00147 <span class="comment"></span>
<a name="l00148"></a>00148 <span class="comment"> /** Saves a MATLAB script that represents graphically the nodes with <i>type</i>="Area" in this hierarchical-map(partition), using the stated node as global coordinates reference, and drawing the ellipses of the localization uncertainty for each node.</span>
<a name="l00149"></a>00149 <span class="comment"> * ADDITIONAL NOTES:</span>
<a name="l00150"></a>00150 <span class="comment"> * - Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</span>
<a name="l00151"></a>00151 <span class="comment"> * - If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.</span>
<a name="l00152"></a>00152 <span class="comment"> */</span>
<a name="l00153"></a>00153 <span class="keywordtype">void</span> saveAreasDiagramWithEllipsedForMATLAB(
<a name="l00154"></a>00154 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName,
<a name="l00155"></a>00155 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &idReferenceNode,
<a name="l00156"></a>00156 <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> &hypothesisID,
<a name="l00157"></a>00157 <span class="keywordtype">float</span> uncertaintyExagerationFactor = 1.0f,
<a name="l00158"></a>00158 <span class="keywordtype">bool</span> drawArcs = <span class="keyword">false</span>,
<a name="l00159"></a>00159 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> numberOfIterationsForOptimalGlobalPoses = 4
<a name="l00160"></a>00160 ) <span class="keyword">const</span>;
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** Saves a MATLAB script that represents graphically the reconstructed "global map"</span>
<a name="l00163"></a>00163 <span class="comment"> * ADDITIONAL NOTES:</span>
<a name="l00164"></a>00164 <span class="comment"> * - Coordinates are computed simply as the mean value of the first arc with an annotation "RelativePose", added to the pose of the original node.</span>
<a name="l00165"></a>00165 <span class="comment"> * - If the coordinates of any node can not be computed (no arcs,...), an exception will be raised.</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a>00167 <span class="keywordtype">void</span> saveGlobalMapForMATLAB(
<a name="l00168"></a>00168 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &filName,
<a name="l00169"></a>00169 <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> &hypothesisID,
<a name="l00170"></a>00170 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &idReferenceNode ) <span class="keyword">const</span>;
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"> /** The Dijkstra algorithm for finding the shortest path between a pair of nodes.</span>
<a name="l00174"></a>00174 <span class="comment"> * \return The sequence of arcs connecting the nodes.It will be empty if no path is found or when the starting and ending node coincide.</span>
<a name="l00175"></a>00175 <span class="comment"> */</span>
<a name="l00176"></a>00176 <span class="keywordtype">void</span> findPathBetweenNodes(
<a name="l00177"></a>00177 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeFrom,
<a name="l00178"></a>00178 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeTo,
<a name="l00179"></a>00179 <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> &hypothesisID,
<a name="l00180"></a>00180 <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_path,
<a name="l00181"></a>00181 <span class="keywordtype">bool</span> direction=<span class="keyword">false</span>) <span class="keyword">const</span>;
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** Draw a number of samples according to the PDF of the coordinates transformation between a pair of "Area"'s nodes.</span>
<a name="l00185"></a>00185 <span class="comment"> * \exception std::exception If there is not enought information in arcs to compute the PDF</span>
<a name="l00186"></a>00186 <span class="comment"> * \sa computeGloballyConsistentNodeCoordinates</span>
<a name="l00187"></a>00187 <span class="comment"> */</span>
<a name="l00188"></a>00188 <span class="keywordtype">void</span> computeCoordinatesTransformationBetweenNodes(
<a name="l00189"></a>00189 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeFrom,
<a name="l00190"></a>00190 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeTo,
<a name="l00191"></a>00191 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose.">CPose3DPDFParticles</a> &posePDF,
<a name="l00192"></a>00192 <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> &hypothesisID,
<a name="l00193"></a>00193 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> particlesCount = 100,
<a name="l00194"></a>00194 <span class="keywordtype">float</span> additionalNoiseXYratio = 0.02,
<a name="l00195"></a>00195 <span class="keywordtype">float</span> additionalNoisePhiRad = <a class="code" href="namespacemrpt_1_1utils.html#a186dc19748953878f7be5e9b0c345dfd" title="Degrees to radians.">DEG2RAD</a>(0.1)
<a name="l00196"></a>00196 ) <span class="keyword">const</span>;
<a name="l00197"></a>00197 <span class="comment"></span>
<a name="l00198"></a>00198 <span class="comment"> /** Computes the probability [0,1] of two areas' gridmaps to "match" (loop closure), according to the grid maps and pose uncertainty from information in arcs (uses a Monte Carlo aproximation)</span>
<a name="l00199"></a>00199 <span class="comment"> * If there is not enough information or a robust estimation cannot be found, there will not be particles in "estimatedRelativePose".</span>
<a name="l00200"></a>00200 <span class="comment"> */</span>
<a name="l00201"></a>00201 <span class="keywordtype">float</span> computeMatchProbabilityBetweenNodes(
<a name="l00202"></a>00202 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeFrom,
<a name="l00203"></a>00203 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeTo,
<a name="l00204"></a>00204 <span class="keywordtype">float</span> &maxMatchProb,
<a name="l00205"></a>00205 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</a> &estimatedRelativePose,
<a name="l00206"></a>00206 <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> &hypothesisID,
<a name="l00207"></a>00207 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> monteCarloSamplesPose = 300
<a name="l00208"></a>00208 );
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /** Returns all the arcs between a pair of nodes:</span>
<a name="l00211"></a>00211 <span class="comment"> */</span>
<a name="l00212"></a>00212 <span class="keywordtype">void</span> findArcsBetweenNodes(
<a name="l00213"></a>00213 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node1,
<a name="l00214"></a>00214 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node2,
<a name="l00215"></a>00215 <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> &hypothesisID,
<a name="l00216"></a>00216 <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_listArcs ) <span class="keyword">const</span>;
<a name="l00217"></a>00217 <span class="comment"></span>
<a name="l00218"></a>00218 <span class="comment"> /** Returns the arcs between a pair of nodes of a given type.</span>
<a name="l00219"></a>00219 <span class="comment"> */</span>
<a name="l00220"></a>00220 <span class="keywordtype">void</span> findArcsOfTypeBetweenNodes(
<a name="l00221"></a>00221 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node1id,
<a name="l00222"></a>00222 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node2id,
<a name="l00223"></a>00223 <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> &hypothesisID,
<a name="l00224"></a>00224 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &arcType,
<a name="l00225"></a>00225 <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> &ret) <span class="keyword">const</span>;
<a name="l00226"></a>00226 <span class="comment"></span>
<a name="l00227"></a>00227 <span class="comment"> /** Returns the first arc between a pair of nodes of a given type, and if it is in the opposite direction.</span>
<a name="l00228"></a>00228 <span class="comment"> * \return The arc, or NULL if not found.</span>
<a name="l00229"></a>00229 <span class="comment"> */</span>
<a name="l00230"></a>00230 <a class="code" href="structmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc_ptr.html">CHMHMapArcPtr</a> findArcOfTypeBetweenNodes(
<a name="l00231"></a>00231 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node1id,
<a name="l00232"></a>00232 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node2id,
<a name="l00233"></a>00233 <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> &hypothesisID,
<a name="l00234"></a>00234 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &arcType,
<a name="l00235"></a>00235 <span class="keywordtype">bool</span> &isInverted ) <span class="keyword">const</span>;
<a name="l00236"></a>00236
<a name="l00237"></a>00237 <span class="comment"></span>
<a name="l00238"></a>00238 <span class="comment"> /** Returns wether two nodes are "neightbour", i.e. have a direct arc between them</span>
<a name="l00239"></a>00239 <span class="comment"> */</span>
<a name="l00240"></a>00240 <span class="keywordtype">bool</span> areNodesNeightbour(
<a name="l00241"></a>00241 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node1,
<a name="l00242"></a>00242 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &node2,
<a name="l00243"></a>00243 <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> &hypothesisID,
<a name="l00244"></a>00244 <span class="keyword">const</span> <span class="keywordtype">char</span> *requiredAnnotation=NULL ) <span class="keyword">const</span>;
<a name="l00245"></a>00245 <span class="comment"></span>
<a name="l00246"></a>00246 <span class="comment"> /** This methods implements a Lu&Milios-like globally optimal estimation for the global coordinates of all the nodes in the graph according to all available arcs with relative pose information.</span>
<a name="l00247"></a>00247 <span class="comment"> * Global coordinates will be computed relative to the node "idReferenceNode".</span>
<a name="l00248"></a>00248 <span class="comment"> * \exception std::exception If there is any node without a pose arc, invalid (non invertible) matrixes, etc...</span>
<a name="l00249"></a>00249 <span class="comment"> * \sa computeCoordinatesTransformationBetweenNodes</span>
<a name="l00250"></a>00250 <span class="comment"> */</span>
<a name="l00251"></a>00251 <span class="keywordtype">void</span> computeGloballyConsistentNodeCoordinates(
<a name="l00252"></a>00252 <a class="code" href="classstd_1_1map.html" title="STL class.">std::map</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.">CHMHMapNode::TNodeID</a>,<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a>, std::less<CHMHMapNode::TNodeID>, <a class="code" href="class_eigen_1_1aligned__allocator.html" title="STL compatible allocator to use with with 16 byte aligned types.">Eigen::aligned_allocator</a><std::pair<const CHMHMapNode::TNodeID,CPose3DPDFGaussian> > > &nodePoses,
<a name="l00253"></a>00253 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &idReferenceNode,
<a name="l00254"></a>00254 <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> &hypothesisID,
<a name="l00255"></a>00255 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &numberOfIterations = 2) <span class="keyword">const</span>;
<a name="l00256"></a>00256 <span class="comment"></span>
<a name="l00257"></a>00257 <span class="comment"> /** Returns a 3D scene reconstruction of the hierarchical map.</span>
<a name="l00258"></a>00258 <span class="comment"> * See "computeGloballyConsistentNodeCoordinates" for the meaning of "numberOfIterationsForOptimalGlobalPoses"</span>
<a name="l00259"></a>00259 <span class="comment"> */</span>
<a name="l00260"></a>00260 <span class="keywordtype">void</span> getAs3DScene(
<a name="l00261"></a>00261 <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a> &outScene,
<a name="l00262"></a>00262 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &idReferenceNode,
<a name="l00263"></a>00263 <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> &hypothesisID,
<a name="l00264"></a>00264 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &numberOfIterationsForOptimalGlobalPoses = 5,
<a name="l00265"></a>00265 <span class="keyword">const</span> <span class="keywordtype">bool</span> &showRobotPoseIDs = <span class="keyword">true</span>
<a name="l00266"></a>00266 ) <span class="keyword">const</span>;
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="comment"> /** Return a textual description of the whole graph */</span>
<a name="l00269"></a>00269 <span class="keywordtype">void</span> dumpAsText(<a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">utils::CStringList</a> &s) <span class="keyword">const</span>;
<a name="l00270"></a>00270
<a name="l00271"></a>00271
<a name="l00272"></a>00272 <span class="comment"></span>
<a name="l00273"></a>00273 <span class="comment"> /** Computes the probability [0,1] of two areas' gridmaps to overlap, via a Monte Carlo aproximation.</span>
<a name="l00274"></a>00274 <span class="comment"> * \exception std::exception If there is not enought information in arcs, etc...</span>
<a name="l00275"></a>00275 <span class="comment"> * \param margin_to_substract In meters, the area of each gridmap is "eroded" this amount to compensate the area in excess usually found in gridmaps.</span>
<a name="l00276"></a>00276 <span class="comment"> */</span>
<a name="l00277"></a>00277 <span class="keywordtype">double</span> computeOverlapProbabilityBetweenNodes(
<a name="l00278"></a>00278 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeFrom,
<a name="l00279"></a>00279 <span class="keyword">const</span> <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.">CHMHMapNode::TNodeID</a> &nodeTo,
<a name="l00280"></a>00280 <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> &hypothesisID,
<a name="l00281"></a>00281 <span class="keyword">const</span> <span class="keywordtype">size_t</span> &monteCarloSamples = 100,
<a name="l00282"></a>00282 <span class="keyword">const</span> <span class="keywordtype">float</span> margin_to_substract = 6
<a name="l00283"></a>00283 ) <span class="keyword">const</span> ;
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <span class="keyword">protected</span>:
<a name="l00286"></a>00286
<a name="l00287"></a>00287 }; <span class="comment">// End of class def.</span>
<a name="l00288"></a>00288 }
<a name="l00289"></a>00289 }
<a name="l00290"></a>00290
<a name="l00291"></a>00291 <span class="preprocessor">#endif</span>
</pre></div></div>
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