void clear()
Erase all the contents of map (It delete all nodes/arcs objects)
std::shared_ptr< mrpt::hmtslam ::CHMHMapNode > Ptr
void onArcAddition(CHMHMapArc::Ptr &arc)
Event handler to be called just after an arc has being created: it will be added to the internal list...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class for representing a node in a hierarchical, multi-hypothesis map.
void onNodeDestruction(CHMHMapNode *node)
Event handler to be called just before a node is being destroyed: it will be removed from the interna...
void onNodeAddition(CHMHMapNode::Ptr &node)
Event handler to be called just after a node has being created: it will be added to the internal list...
void dumpAsXMLfile(std::string fileName) const
Destructor.
void loadFromXMLfile(std::string fileName)
Load a graph from a XML file.
Classes related to the implementation of Hybrid Metric Topological (HMT) SLAM.
~CHierarchicalMHMap() override
CHierarchicalMHMap()
Default constructor.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
A class for representing an arc between two nodes in a hierarchical, multi-hypothesis map.
void onArcDestruction(CHMHMapArc *arc)
Event handler to be called just before an arc is being destroyed: it will be removed from the interna...
std::shared_ptr< mrpt::hmtslam ::CHMHMapArc > Ptr
The most high level class for storing hybrid, multi-hypothesis maps in a graph-based model.
Represents a set of nodes and arcs, posibly only a part of the whole hierarchical,...
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