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mrpt::hmtslam::CHMHMapArc Class Reference

Detailed Description

A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.

The arc itself will be considered only if some given hypothesisID matchs its own ID.

Note
Create objects by invoking the class factory "::Create"
See also
CHierarchicalMHMap,CHMHMapNode

Definition at line 29 of file CHMHMapArc.h.

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:
Inheritance graph

Public Member Functions

virtual ~CHMHMapArc ()
 Destructor.
 
CHMHMapNode::TNodeID getNodeFrom () const
 Return the starting node of the arc:
 
CHMHMapNode::TNodeID getNodeTo () const
 Return the ending node of the arc:
 

Static Public Member Functions

static CHMHMapArcPtr Create (const CHMHMapNode::TNodeID &from, const CHMHMapNode::TNodeID &to, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
 Constructor from node IDs.
 
static CHMHMapArcPtr Create (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
 Alternative constructor, using pointers for convenience.
 

Public Attributes

THypothesisIDSet m_hypotheses
 The hypothesis IDs under which this arc exists.
 
utils::CTypeSelector m_arcType
 The type of the arc, the possibilities are:
 
utils::CMHPropertiesValuesList m_annotations
 The annotations of the arc, see the general description of the class for possible properties and values.
 

Protected Member Functions

void onNodeDestruction (CHMHMapNode *node)
 Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Protected Attributes

CHMHMapNode::TNodeID m_nodeFrom
 The origin/target nodes for this arc.
 
CHMHMapNode::TNodeID m_nodeTo
 
mrpt::utils::safe_ptr< CHierarchicalMHMapm_parent
 The hierarchical graph in which this object is into.
 

Private Member Functions

 CHMHMapArc (const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=NULL)
 Private constructor (see Create class factory)
 
 CHMHMapArc (CHMHMapNodePtr &from, CHMHMapNodePtr &to, const THypothesisIDSet &hyps, CHierarchicalMHMap *parent)
 Alternative constructor, using pointers for convenience.
 

Friends

class CHierarchicalMHMap
 
class CHMHMapNode
 
class CHierarchicalMapMHPartition
 
class TArcList
 

RTTI stuff <br>

typedef CHMHMapArcPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CHMHMapArc
 
static mrpt::utils::TRuntimeClassId classCHMHMapArc
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CHMHMapArcPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 37 of file CHMHMapArc.h.

Constructor & Destructor Documentation

◆ CHMHMapArc() [1/2]

mrpt::hmtslam::CHMHMapArc::CHMHMapArc ( const CHMHMapNode::TNodeID from = 0,
const CHMHMapNode::TNodeID to = 0,
const THypothesisIDSet hyps = THypothesisIDSet(),
CHierarchicalMHMap parent = NULL 
)
private

Private constructor (see Create class factory)

◆ CHMHMapArc() [2/2]

mrpt::hmtslam::CHMHMapArc::CHMHMapArc ( CHMHMapNodePtr from,
CHMHMapNodePtr to,
const THypothesisIDSet hyps,
CHierarchicalMHMap parent 
)
private

Alternative constructor, using pointers for convenience.

◆ ~CHMHMapArc()

virtual mrpt::hmtslam::CHMHMapArc::~CHMHMapArc ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::hmtslam::CHMHMapArc::_GetBaseClass ( )
staticprotected

◆ Create() [1/3]

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( )
static

◆ Create() [2/3]

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( CHMHMapNodePtr from,
CHMHMapNodePtr to,
const THypothesisIDSet hyps,
CHierarchicalMHMap parent 
)
static

Alternative constructor, using pointers for convenience.

References mrpt::hmtslam::CHMHMapArcPtr.

◆ Create() [3/3]

static CHMHMapArcPtr mrpt::hmtslam::CHMHMapArc::Create ( const CHMHMapNode::TNodeID from,
const CHMHMapNode::TNodeID to,
const THypothesisIDSet hyps = THypothesisIDSet(),
CHierarchicalMHMap parent = NULL 
)
static

Constructor from node IDs.

References mrpt::hmtslam::CHMHMapArcPtr.

◆ CreateObject()

static mrpt::utils::CObject * mrpt::hmtslam::CHMHMapArc::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::hmtslam::CHMHMapArc::duplicate ( ) const
virtual

◆ getNodeFrom()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom ( ) const
inline

Return the starting node of the arc:

Definition at line 98 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

◆ getNodeTo()

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo ( ) const
inline

Return the ending node of the arc:

Definition at line 102 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::hmtslam::CHMHMapArc::GetRuntimeClass ( ) const
virtual

◆ onNodeDestruction()

void mrpt::hmtslam::CHMHMapArc::onNodeDestruction ( CHMHMapNode node)
protected

Event handler to be called just before a node is being destroyed: it should be called only for nodes involved in the arc, altought other cases must be handled without effects When a node involved in the arc is delected, the corresponding pointer in the arc will be set to NULL and the arc is no longer a valid one.

◆ readFromStream()

void mrpt::hmtslam::CHMHMapArc::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ writeToStream()

void mrpt::hmtslam::CHMHMapArc::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Friends And Related Function Documentation

◆ CHierarchicalMapMHPartition

friend class CHierarchicalMapMHPartition
friend

Definition at line 33 of file CHMHMapArc.h.

◆ CHierarchicalMHMap

friend class CHierarchicalMHMap
friend

Definition at line 31 of file CHMHMapArc.h.

◆ CHMHMapNode

friend class CHMHMapNode
friend

Definition at line 32 of file CHMHMapArc.h.

◆ TArcList

friend class TArcList
friend

Definition at line 34 of file CHMHMapArc.h.

Member Data Documentation

◆ _init_CHMHMapArc

mrpt::utils::CLASSINIT mrpt::hmtslam::CHMHMapArc::_init_CHMHMapArc
staticprotected

Definition at line 37 of file CHMHMapArc.h.

◆ classCHMHMapArc

mrpt::utils::TRuntimeClassId mrpt::hmtslam::CHMHMapArc::classCHMHMapArc
static

Definition at line 37 of file CHMHMapArc.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::hmtslam::CHMHMapArc::classinfo
static

Definition at line 37 of file CHMHMapArc.h.

◆ m_annotations

utils::CMHPropertiesValuesList mrpt::hmtslam::CHMHMapArc::m_annotations

The annotations of the arc, see the general description of the class for possible properties and values.

Definition at line 113 of file CHMHMapArc.h.

◆ m_arcType

utils::CTypeSelector mrpt::hmtslam::CHMHMapArc::m_arcType

The type of the arc, the possibilities are:

  • "Membership": for abstractions
  • "Navegability"
  • "RelativePose"

Definition at line 109 of file CHMHMapArc.h.

◆ m_hypotheses

THypothesisIDSet mrpt::hmtslam::CHMHMapArc::m_hypotheses

The hypothesis IDs under which this arc exists.

Definition at line 42 of file CHMHMapArc.h.

◆ m_nodeFrom

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeFrom
protected

The origin/target nodes for this arc.

Definition at line 47 of file CHMHMapArc.h.

◆ m_nodeTo

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::m_nodeTo
protected

Definition at line 47 of file CHMHMapArc.h.

◆ m_parent

mrpt::utils::safe_ptr<CHierarchicalMHMap> mrpt::hmtslam::CHMHMapArc::m_parent
protected

The hierarchical graph in which this object is into.

Definition at line 50 of file CHMHMapArc.h.




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