mrpt::slam::CSimpleMap Class Reference

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...

#include <mrpt/slam/CSimpleMap.h>

Inheritance diagram for mrpt::slam::CSimpleMap:

[legend]

Collaboration diagram for mrpt::slam::CSimpleMap:

[legend]

List of all members.

Public Member Functions
	CSimpleMap ()
	Constructor.
	CSimpleMap (const CSimpleMap &o)
	Copy constructor.
CSimpleMap &	operator= (const CSimpleMap &o)
	Copy constructor.
virtual	~CSimpleMap ()
	Destructor:.
size_t	size () const
	Returns the pairs count.
void	get (size_t index, CPose3DPDFPtr &out_posePDF, CSensoryFramePtr &out_SF) const
	Access to the i'th pair, first one is index '0'.
void	set (size_t index, const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
	Changes the i'th pair, first one is index '0'.
void	set (size_t index, const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
	Changes the i'th pair, first one is index '0'.
void	remove (size_t index)
	Deletes the i'th pair, first one is index '0'.
void	insert (const CPose3DPDF *in_posePDF, const CSensoryFrame &in_SF)
	Add a new pair to the sequence.
void	insert (const CPose3DPDF *in_posePDF, const CSensoryFramePtr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).
void	insert (const CPose3DPDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
	Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).
void	insert (const CPosePDFPtr &in_posePDF, const CSensoryFramePtr &in_SF)
	Add a new pair to the sequence.
void	insert (const CPosePDF *in_posePDF, const CSensoryFrame &in_SF)
	Add a new pair to the sequence.
void	insert (const CPosePDF *in_posePDF, const CSensoryFramePtr &in_SF)
	Add a new pair to the sequence.
void	clear ()
	Remove all stored pairs.
void	changeCoordinatesOrigin (const CPose3D &newOrigin)
	Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.
Private Types
typedef std::pair < CPose3DPDFPtr, CSensoryFramePtr >	TPosePDFSensFramePair
typedef std::deque < TPosePDFSensFramePair >	TPosePDFSensFramePairList
Private Attributes
TPosePDFSensFramePairList	m_posesObsPairs
	The stored data.
Static Private Attributes
static mrpt::utils::CLASSINIT	_init_CSensFrameProbSequence
static mrpt::utils::TRuntimeClassId	classCSensFrameProbSequence

---

Detailed Description

This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information.

The pose of the sensory frame is not deterministic, but described by some PDF. Full 6D poses are used.

Note:

Objects of this class are serialized into (possibly GZ-compressed) files with the extension ".simplemap".

Before MRPT 0.9.0 the name of this class was "CSensFrameProbSequence", that's why there is a typedef with that name to allow backward compatibility.

See also:

CSensoryFrame, CPosePDF

Definition at line 51 of file CSimpleMap.h.

---

Member Typedef Documentation

typedef std::pair<CPose3DPDFPtr,CSensoryFramePtr> mrpt::slam::CSimpleMap::TPosePDFSensFramePair [private]

Definition at line 150 of file CSimpleMap.h.

typedef std::deque<TPosePDFSensFramePair> mrpt::slam::CSimpleMap::TPosePDFSensFramePairList [private]

Definition at line 152 of file CSimpleMap.h.

---

Constructor & Destructor Documentation

mrpt::slam::CSimpleMap::CSimpleMap

(

)

Constructor.

mrpt::slam::CSimpleMap::CSimpleMap

(

const CSimpleMap &

o

)

Copy constructor.

virtual mrpt::slam::CSimpleMap::~CSimpleMap

(

)

[virtual]

Destructor:.

---

Member Function Documentation

void mrpt::slam::CSimpleMap::changeCoordinatesOrigin

(

const CPose3D &

newOrigin

)

Change the coordinate origin of all stored poses, for consistency with future new poses to enter in the system.

void mrpt::slam::CSimpleMap::clear

(

)

Remove all stored pairs.

See also:

remove

void mrpt::slam::CSimpleMap::get	(	size_t	index,
		CPose3DPDFPtr &	out_posePDF,
		CSensoryFramePtr &	out_SF
	)			const

Access to the i'th pair, first one is index '0'.

NOTE: This method returns pointers to the objects inside the list, nor a copy of them, so do neither modify them nor delete them. NOTE: You can pass a NULL pointer if you dont need one of the two variables to be returned.

Exceptions:

std::exception

On index out of bounds.

void mrpt::slam::CSimpleMap::insert	(	const CPosePDF *	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void mrpt::slam::CSimpleMap::insert	(	const CPosePDF *	in_posePDF,
		const CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void mrpt::slam::CSimpleMap::insert	(	const CPosePDFPtr &	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion. This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

void mrpt::slam::CSimpleMap::insert	(	const CPose3DPDFPtr &	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::slam::CSimpleMap::insert	(	const CPose3DPDF *	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Add a new pair to the sequence, making a copy of the smart pointer (it's not made unique).

void mrpt::slam::CSimpleMap::insert	(	const CPose3DPDF *	in_posePDF,
		const CSensoryFrame &	in_SF
	)

Add a new pair to the sequence.

The objects are copied, so original ones can be free if desired after insertion.

CSimpleMap& mrpt::slam::CSimpleMap::operator=

(

const CSimpleMap &

o

)

Copy constructor.

void mrpt::slam::CSimpleMap::remove

(

size_t

index

)

Deletes the i'th pair, first one is index '0'.

Exceptions:

std::exception

On index out of bounds.

See also:

insert, get, set

void mrpt::slam::CSimpleMap::set	(	size_t	index,
		const CPosePDFPtr &	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values). This version for 2D PDFs just converts the 2D PDF into 3D before calling the 3D version.

Exceptions:

std::exception

On index out of bounds.

See also:

insert, get, remove

void mrpt::slam::CSimpleMap::set	(	size_t	index,
		const CPose3DPDFPtr &	in_posePDF,
		const CSensoryFramePtr &	in_SF
	)

Changes the i'th pair, first one is index '0'.

The referenced object is COPIED, so you can freely destroy the object passed as parameter after calling this. If one of the pointers is NULL, the corresponding contents of the current i'th pair is not modified (i.e. if you want just to modify one of the values).

Exceptions:

std::exception

On index out of bounds.

See also:

insert, get, remove

size_t mrpt::slam::CSimpleMap::size

(

)

const

Returns the pairs count.

---

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CSimpleMap::_init_CSensFrameProbSequence [static, private]

Definition at line 58 of file CSimpleMap.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CSimpleMap::classCSensFrameProbSequence [static, private]

Definition at line 59 of file CSimpleMap.h.

TPosePDFSensFramePairList mrpt::slam::CSimpleMap::m_posesObsPairs [private]

The stored data.

Definition at line 155 of file CSimpleMap.h.