9#ifndef CRobotPosesGraph_H
10#define CRobotPosesGraph_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
Auxiliary class used in mrpt::slam::CLocalMetricHypothesis for HMT-SLAM; this class stores a set of r...
void convertIntoSimplemap(mrpt::maps::CSimpleMap &out_simplemap) const
Converts the contents of this object into a 'simplemap' (mrpt::maps::CSimpleMap) object.
void insertIntoMetricMap(mrpt::maps::CMultiMetricMap &metricMap) const
Insert all the observations in the map (without erasing previous contents).
This class stores any customizable set of metric maps.
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be t...
Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
uint64_t TPoseID
An integer number uniquely identifying each robot pose stored in HMT-SLAM.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Information kept for each robot pose used in CRobotPosesGraph.
mrpt::obs::CSensoryFrame sf
The observations.
mrpt::poses::CPose3DPDFParticles pdf
The robot pose PDF.