mrpt::hmtslam::CHierarchicalMHMap Class Reference

The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...

#include <mrpt/hmtslam/CHierarchicalMHMap.h>

Inheritance diagram for mrpt::hmtslam::CHierarchicalMHMap:

[legend]

Collaboration diagram for mrpt::hmtslam::CHierarchicalMHMap:

[legend]

List of all members.

Public Member Functions
	CHierarchicalMHMap ()
	Default constructor.
void	dumpAsXMLfile (std::string fileName) const
	Destructor.
void	loadFromXMLfile (std::string fileName)
	Load a graph from a XML file.
virtual	~CHierarchicalMHMap ()
void	clear ()
	Erase all the contents of map (It delete all nodes/arcs objects).
Protected Member Functions
void	onNodeAddition (CHMHMapNodePtr &node)
	Event handler to be called just after a node has being created: it will be added to the internal list.
void	onArcAddition (CHMHMapArcPtr &arc)
	Event handler to be called just after an arc has being created: it will be added to the internal list.
void	onNodeDestruction (CHMHMapNode *node)
	Event handler to be called just before a node is being destroyed: it will be removed from the internal list.
void	onArcDestruction (CHMHMapArc *arc)
	Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.
Friends
class HMTSLAM_IMPEXP	CHMHMapArc
class HMTSLAM_IMPEXP	CHMHMapNode

---

Detailed Description

The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.

This class is used within the HMT-SLAM implementation in CHMTSLAM.

See also:

CHMTSLAM, CHMHMapArc, CHMHMapNode, CHierarchicalMHMapPartition

Definition at line 51 of file CHierarchicalMHMap.h.

---

Constructor & Destructor Documentation

mrpt::hmtslam::CHierarchicalMHMap::CHierarchicalMHMap

(

)

Default constructor.

virtual mrpt::hmtslam::CHierarchicalMHMap::~CHierarchicalMHMap

(

)

[virtual]

---

Member Function Documentation

void mrpt::hmtslam::CHierarchicalMHMap::clear

(

)

Erase all the contents of map (It delete all nodes/arcs objects).

void mrpt::hmtslam::CHierarchicalMHMap::dumpAsXMLfile

(

std::string

fileName

)

const

Destructor.

Save the whole graph as a XML file

void mrpt::hmtslam::CHierarchicalMHMap::loadFromXMLfile

(

std::string

fileName

)

Load a graph from a XML file.

void mrpt::hmtslam::CHierarchicalMHMap::onArcAddition

(

CHMHMapArcPtr &

arc

)

[protected]

Event handler to be called just after an arc has being created: it will be added to the internal list.

void mrpt::hmtslam::CHierarchicalMHMap::onArcDestruction

(

CHMHMapArc *

arc

)

[protected]

Event handler to be called just before an arc is being destroyed: it will be removed from the internal list.

Note:

At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

void mrpt::hmtslam::CHierarchicalMHMap::onNodeAddition

(

CHMHMapNodePtr &

node

)

[protected]

Event handler to be called just after a node has being created: it will be added to the internal list.

void mrpt::hmtslam::CHierarchicalMHMap::onNodeDestruction

(

CHMHMapNode *

node

)

[protected]

Event handler to be called just before a node is being destroyed: it will be removed from the internal list.

Note:

At *addition we use a smart pointer to assure all the implied guys use the same smrt. pnt., but at destructors the objects don't know anything but "this", thus the usage of plain pointers.

---

Friends And Related Function Documentation

friend class HMTSLAM_IMPEXP CHMHMapArc [friend]

Definition at line 53 of file CHierarchicalMHMap.h.

friend class HMTSLAM_IMPEXP CHMHMapNode [friend]

Definition at line 54 of file CHierarchicalMHMap.h.