Main MRPT website > C++ reference
MRPT logo
Classes | Typedefs | Functions | Variables

mrpt::hmtslam Namespace Reference


Detailed Description

Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.

Classes

class  CHierarchicalMapMHPartition
 Represents a set of nodes and arcs, posibly only a part of the whole hierarchical, multi-hypothesis map. More...
struct  CHierarchicalMHMapPtr
class  CHierarchicalMHMap
 The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model. More...
class  CHMHMapArc
 A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map. More...
struct  CHMHMapNodePtr
class  CHMHMapNode
 A class for representing a node in a hierarchical, multi-hypothesis map. More...
struct  CHMTSLAMPtr
class  CHMTSLAM
 An implementation of Hybrid Metric Topological SLAM (HMT-SLAM). More...
class  CLSLAMAlgorithmBase
 Virtual base for local SLAM methods, used in mrpt::slam::CHMTSLAM. More...
class  CLSLAM_RBPF_2DLASER
 Implements a 2D local SLAM method based on a RBPF over an occupancy grid map. More...
struct  CLSLAMParticleDataPtr
struct  CLocalMetricHypothesisPtr
class  CLSLAMParticleData
 Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class keeps the data relative to each local metric particle ("a robot metric path hypothesis" and its associated metric map). More...
class  CLocalMetricHypothesis
 This class is used in HMT-SLAM to represent each of the Local Metric Hypotheses (LMHs). More...
struct  TPoseInfo
 Information kept for each robot pose used in CRobotPosesGraph. More...
struct  CRobotPosesGraphPtr
class  CRobotPosesGraph
 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...
class  CTopLCDetector_FabMap
class  CTopLCDetector_GridMatching
class  CTopLCDetectorBase
 The virtual base class for Topological Loop-closure Detectors; used in HMT-SLAM. More...
struct  CHMHMapArcPtr
struct  THypothesisIDSetPtr
class  THypothesisIDSet
 A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. More...
class  TArcList
 A class for storing a sequence of arcs (a path). More...

Typedefs

typedef std::map
< CHMHMapNode::TNodeID,
CHMHMapNodePtr
TNodeList
 A map between node IDs and nodes (used in HMT-SLAM).
typedef list_searchable
< CHMHMapNode::TNodeID
TNodeIDList
typedef std::set
< CHMHMapNode::TNodeID
TNodeIDSet
typedef std::pair
< CHMHMapNode::TNodeID,
CHMHMapNode::TNodeID
TPairNodeIDs
typedef stlplus::smart_ptr
< CTopLCDetectorBase
CTopLCDetectorBasePtr
typedef int64_t THypothesisID
 An integer number uniquely identifying each of the concurrent hypotheses for the robot topological path (& possibly local metric clusters) in HMT-SLAM.
typedef uint64_t TPoseID
 An integer number uniquely identifying each robot pose stored in HMT-SLAM.
typedef std::pair< TPoseID,
TPoseID
TPairPoseIDs
typedef std::vector< TPoseIDTPoseIDList
typedef std::set< TPoseIDTPoseIDSet

Functions

::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHierarchicalMHMapPtr &pObj)
HMTSLAM_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CHMHMapNodePtr &pObj)
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHMTSLAMPtr &pObj)
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLSLAMParticleDataPtr &pObj)
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLocalMetricHypothesisPtr &pObj)
HMTSLAM_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CRobotPosesGraphPtr &pObj)
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHMHMapArcPtr &pObj)
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, THypothesisIDSetPtr &pObj)

Variables

class HMTSLAM_IMPEXP CHierarchicalMHMap
class HMTSLAM_IMPEXP CHMHMapArc
class HMTSLAM_IMPEXP CHMHMapNode
class HMTSLAM_IMPEXP CHMTSLAM
class HMTSLAM_IMPEXP CLSLAM_RBPF_2DLASER
class HMTSLAM_IMPEXP CRobotPosesGraph

Typedef Documentation

Definition at line 103 of file CTopLCDetectorBase.h.

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()

Definition at line 81 of file HMT_SLAM_common.h.

Definition at line 168 of file CHMHMapNode.h.

Definition at line 169 of file CHMHMapNode.h.

A map between node IDs and nodes (used in HMT-SLAM).

See also:
CHMTSLAM

Definition at line 167 of file CHMHMapNode.h.

Definition at line 170 of file CHMHMapNode.h.

Definition at line 88 of file HMT_SLAM_common.h.

typedef uint64_t mrpt::hmtslam::TPoseID

An integer number uniquely identifying each robot pose stored in HMT-SLAM.

They can be generated from CHMTSLAM::generatePoseID()

Definition at line 86 of file HMT_SLAM_common.h.

typedef std::vector<TPoseID> mrpt::hmtslam::TPoseIDList

Definition at line 90 of file HMT_SLAM_common.h.

Definition at line 91 of file HMT_SLAM_common.h.


Function Documentation

::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHierarchicalMHMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
THypothesisIDSetPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMHMapArcPtr &  pObj 
)
HMTSLAM_IMPEXP ::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CRobotPosesGraphPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CLocalMetricHypothesisPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CLSLAMParticleDataPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMTSLAMPtr &  pObj 
)
HMTSLAM_IMPEXP ::mrpt::utils::CStream& mrpt::hmtslam::operator>> ( mrpt::utils::CStream in,
CHMHMapNodePtr &  pObj 
)

Variable Documentation

class HMTSLAM_IMPEXP mrpt::hmtslam::CHierarchicalMHMap

Definition at line 40 of file CHMHMapArc.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapArc

Definition at line 47 of file CHMHMapNode.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMHMapNode

Definition at line 49 of file CHMHMapNode.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CHMTSLAM

Definition at line 58 of file CLocalMetricHypothesis.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CLSLAM_RBPF_2DLASER

Definition at line 59 of file CLocalMetricHypothesis.h.

class HMTSLAM_IMPEXP mrpt::hmtslam::CRobotPosesGraph

Definition at line 53 of file CRobotPosesGraph.h.




Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011