mrpt::hmtslam::CHMHMapArc Class Reference

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

#include <mrpt/hmtslam/CHMHMapArc.h>

Inheritance diagram for mrpt::hmtslam::CHMHMapArc:

[legend]

Collaboration diagram for mrpt::hmtslam::CHMHMapArc:

[legend]

List of all members.

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: "Membership": for abstractions "Navegability" "RelativePose".
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.
Protected Attributes
CHMHMapNode::TNodeID	m_nodeFrom
	The origin/target nodes for this arc.
CHMHMapNode::TNodeID	m_nodeTo
safe_ptr< CHierarchicalMHMap >	m_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 HMTSLAM_IMPEXP	CHierarchicalMHMap
class HMTSLAM_IMPEXP	CHMHMapNode
class HMTSLAM_IMPEXP	CHierarchicalMapMHPartition
class	TArcList

---

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 50 of file CHMHMapArc.h.

---

Constructor & Destructor Documentation

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).

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

Alternative constructor, using pointers for convenience.

virtual mrpt::hmtslam::CHMHMapArc::~CHMHMapArc

(

)

[virtual]

Destructor.

---

Member Function Documentation

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

Alternative constructor, using pointers for convenience.

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.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeFrom

(

)

const [inline]

Return the starting node of the arc:.

Definition at line 120 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

CHMHMapNode::TNodeID mrpt::hmtslam::CHMHMapArc::getNodeTo

(

)

const [inline]

Return the ending node of the arc:.

Definition at line 124 of file CHMHMapArc.h.

References AREAID_INVALID, and ASSERT_.

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.

---

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CHierarchicalMapMHPartition [friend]

Definition at line 54 of file CHMHMapArc.h.

friend class HMTSLAM_IMPEXP CHierarchicalMHMap [friend]

Definition at line 52 of file CHMHMapArc.h.

friend class HMTSLAM_IMPEXP CHMHMapNode [friend]

Definition at line 53 of file CHMHMapArc.h.

friend class TArcList [friend]

Definition at line 55 of file CHMHMapArc.h.

---

Member Data Documentation

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 135 of file CHMHMapArc.h.

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

The type of the arc, the possibilities are:

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

Definition at line 131 of file CHMHMapArc.h.

THypothesisIDSet mrpt::hmtslam::CHMHMapArc::m_hypotheses

The hypothesis IDs under which this arc exists.

Definition at line 63 of file CHMHMapArc.h.

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

The origin/target nodes for this arc.

Definition at line 68 of file CHMHMapArc.h.

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

Definition at line 68 of file CHMHMapArc.h.

safe_ptr<CHierarchicalMHMap> mrpt::hmtslam::CHMHMapArc::m_parent [protected]

The hierarchical graph in which this object is into.

Definition at line 72 of file CHMHMapArc.h.