71 void onArcAddition(CHMHMapArcPtr &arc);
87 static CHMHMapNodePtr Create(
89 const THypothesisIDSet &hyps = THypothesisIDSet() );
97 utils::CMHPropertiesValuesList m_annotations;
105 utils::CTypeSelector m_nodeType;
109 TNodeID getID() const;
117 unsigned int getLevelInTheHierarchy();
121 unsigned int getRelatedArcsCount();
The virtual base class which provides a unified interface for all persistent objects in MRPT...
std::map< CHMHMapNode::TNodeID, CHMHMapNodePtr > TNodeList
A map between node IDs and nodes (used in HMT-SLAM).
int64_t THypothesisID
An integer number uniquely identifying each of the concurrent hypotheses for the robot topological pa...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps. ...
class BASE_IMPEXP CSerializable
class HMTSLAM_IMPEXP CHierarchicalMHMap
std::pair< CHMHMapNode::TNodeID, CHMHMapNode::TNodeID > TPairNodeIDs
uint64_t TNodeID
The type for node IDs in graphs of different types.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::set< CHMHMapNode::TNodeID > TNodeIDSet
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model...
class HMTSLAM_IMPEXP CHMHMapNode
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A class for storing a sequence of arcs (a path).
A class for representing a node in a hierarchical, multi-hypothesis map.
mrpt::utils::TNodeID TNodeID
The type of the IDs of nodes.