mrpt::hmtslam::CRobotPosesGraph Class Reference

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH. More...

#include <mrpt/hmtslam/CRobotPosesGraph.h>

Inheritance diagram for mrpt::hmtslam::CRobotPosesGraph:

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Collaboration diagram for mrpt::hmtslam::CRobotPosesGraph:

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List of all members.

Public Member Functions
void	insertIntoMetricMap (CMultiMetricMap &metricMap) const
	Insert all the observations in the map (without erasing previous contents).
void	convertIntoSimplemap (CSimpleMap &out_simplemap) const
	Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object.

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Detailed Description

Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of robot poses and its sensory frames and pose PDF, for being stored in a HMT-map as a serializable object in annotation NODE_ANNOTATION_POSES_GRAPH.

Definition at line 57 of file CRobotPosesGraph.h.

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Member Function Documentation

void mrpt::hmtslam::CRobotPosesGraph::convertIntoSimplemap

(

CSimpleMap &

out_simplemap

)

const

Converts the contents of this object into a 'simplemap' (mrpt::slam::CSimpleMap) object.

void mrpt::hmtslam::CRobotPosesGraph::insertIntoMetricMap

(

CMultiMetricMap &

metricMap

)

const

Insert all the observations in the map (without erasing previous contents).