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HMT_SLAM_common.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef HMT_SLAM_common_H
#define HMT_SLAM_common_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/stl_extensions.h>

#include <mrpt/hmtslam/link_pragmas.h>


#define COMMON_TOPOLOG_HYP                                      static_cast<THypothesisID>(0)

#define NODE_ANNOTATION_METRIC_MAPS             "metricMaps"         // CMultiMetricMap
#define NODE_ANNOTATION_REF_POSEID                      "refPoseID"                      // TPoseID
#define NODE_ANNOTATION_POSES_GRAPH             "posesGraph"         // CRobotPosesGraph

#define NODE_ANNOTATION_PLACE_POSE                      "placePose"          // CPoint2D

#define ARC_ANNOTATION_DELTA                            "Delta"                          // CPose3DPDF (for the current implementation, it's a CPose3DPDFParticles)
#define ARC_ANNOTATION_DELTA_SRC_POSEID         "Delta_poseID_src"       // TPoseID (elemental datatype)
#define ARC_ANNOTATION_DELTA_TRG_POSEID         "Delta_poseID_trg"       // TPoseID (elemental datatype)

/**  Used in constructor of mrpt::hmtslam::CHMHMapArc */
#define ARC_TYPES                       "Membership,Navegability,RelativePose,Location"
#define DEFAULT_ARC_TYPE        "Membership"

/**  Used in constructor of mrpt::hmtslam::CHMHMapNode */
#define NODE_TYPES                      "Place,Area,TopologicalMap,Object"
#define DEFAULT_NODE_TYPE       "Place"

// Used as current robot pose when initializing an empty HMT-map.
#define POSEID_INVALID  static_cast<TPoseID>(-1)

#define AREAID_INVALID  static_cast<uint64_t>(-1)

#define MSG_SOURCE_LSLAM    1
#define MSG_SOURCE_AA       2

namespace mrpt
{
        namespace hmtslam
        {
                using namespace mrpt::utils;

                class HMTSLAM_IMPEXP CHMHMapArc;
                class HMTSLAM_IMPEXP CHMHMapNode;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CHMHMapArc,mrpt::utils::CSerializable, HMTSLAM_IMPEXP )


                /** An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.
                  *   The number 0 has the special meaning of "that part of the map/robot path in which all hypotheses agree".
                  *  They can be generated from CHMTSLAM::generateHypothesisID()
                  */
                typedef int64_t  THypothesisID;

                /** An integer number uniquely identifying each robot pose stored in HMT-SLAM.
                  * They can be generated from CHMTSLAM::generatePoseID()
                  */
                typedef uint64_t  TPoseID;

                typedef std::pair<TPoseID,TPoseID>  TPairPoseIDs;

                typedef std::vector<TPoseID> TPoseIDList;
                typedef std::set<TPoseID> TPoseIDSet;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( THypothesisIDSet,mrpt::utils::CSerializable, HMTSLAM_IMPEXP )

                /** A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.
                  *  \sa THypothesisID, CHierarchicalMHMap
                  */
                class HMTSLAM_IMPEXP THypothesisIDSet : public mrpt::utils::CSerializable, public std::set<THypothesisID>
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( THypothesisIDSet )

                public:
                        /** Default constructor
                          */
                        THypothesisIDSet()
                        {
                        }

                        /** Constructor with one initial element
                          */
                        THypothesisIDSet( const THypothesisID& val)
                        {
                                insert( val );
                        }

                        virtual ~THypothesisIDSet()
                        {
                        }

                        /** Returns true if the hypothesis is into the set.
                          */
                        bool has(  const THypothesisID& val ) const
                        {
                                return find(val)!=end() || find(COMMON_TOPOLOG_HYP)!=end();
                        }

                        /** Dump to console.
                          */
                        void debugDump() const;

                };


                /** A class for storing a sequence of arcs (a path).
                  * \sa CHMTSLAM
                  */
                class HMTSLAM_IMPEXP TArcList : public list_searchable<mrpt::hmtslam::CHMHMapArcPtr>
                {
                private:
                        typedef list_searchable<mrpt::hmtslam::CHMHMapArcPtr> BASE;

                public:
                        void  debugDump();
                        void read( utils::CStream &in );
                        void write( utils::CStream &out ) const;

                };


        } // End of namespace
} // End of namespace

#endif

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