mrpt::safe_ptr< CHierarchicalMHMap > m_parent
The hierarchical graph in which this object is into.
CHMHMapNode::TNodeID getNodeTo() const
Return the ending node of the arc:
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
CMHPropertiesValuesList m_annotations
The annotations of the arc, see the general description of the class for possible properties and valu...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CHMHMapNode::TNodeID getNodeFrom() const
Return the starting node of the arc:
CHMHMapNode::TNodeID m_nodeFrom
The origin/target nodes for this arc.
A class for representing a node in a hierarchical, multi-hypothesis map.
std::string m_arcType
The type of the arc, the possibilities are:
#define ASSERT_(f)
Defines an assertion mechanism.
THypothesisIDSet m_hypotheses
The hypothesis IDs under which this arc exists.
~CHMHMapArc() override
Destructor.
void onNodeDestruction(CHMHMapNode *node)
Event handler to be called just before a node is being destroyed: it should be called only for nodes ...
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
mrpt::graphs::TNodeID TNodeID
The type of the IDs of nodes.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable ...
CHMHMapNode::TNodeID m_nodeTo
A set of hypothesis IDs, used for arcs and nodes in multi-hypothesis hybrid maps.
CHMHMapArc(const CHMHMapNode::TNodeID &from=0, const CHMHMapNode::TNodeID &to=0, const THypothesisIDSet &hyps=THypothesisIDSet(), CHierarchicalMHMap *parent=nullptr)
Private constructor (see ::Create class factory)
A class for storing a sequence of arcs (a path).
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
A wrapper class for pointers that can be safely copied with "=" operator without problems.
Represents a set of nodes and arcs, posibly only a part of the whole hierarchical,...
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