Main MRPT website > C++ reference for MRPT 1.5.0
Classes | Namespaces | Modules | Macros | Typedefs | Enumerations
[mrpt-base]

Detailed Description

Back to list of all libraries | See all modules

Library mrpt-base


This is the most fundamental library in MRPT, since it provides a vast amount of utilities and OS-abstraction classes upon which the rest of MRPT is built. Here resides critical functionality such as mathematics, linear algebra, serialization, smart pointers and multi-threading. l This library comprises classes in a number of namespaces, briefly described below (click on the namespaces names to see the complete list of its classes):

mrpt::poses

A comprehensive collection of geometry-related classes to represent all kind of 2D and 3D geomtry transformations in different formats (Euler angles, rotation matrices, quaternions), as well as networks of pose constrains (as used typically in SLAM problems).

There are also implemented representations for probability distributions over all of these transformations, in a generic way that allow mono and multi-modal Gaussians and particle-based representations.

See mrpt::poses for the complete list of classes here.

mrpt::utils

mrpt::math

MRPT defines a number of generic math containers, which are:

For a more in-depth description of these types, and their relation to the base Eigen classes, read this page.

Notice that fixed-size containers should be preferred where possible, since they allow more compile-time optimizations.

Apart from the containers, this namespace contains much more functionality:

mrpt::synch

This namespace includes threading tools such as critical sections, semaphores or utilities such as the template mrpt::synch::CThreadSafeVariable that converts any variable into a pair variable-critical section.

mrpt::system

Here can be found functions for filesystem managing, watching directories, creating and handling threads in an OS-independent way, etc.

mrpt::compress

GZip compression methods can be found in this namespace.

Collaboration diagram for [mrpt-base]:

Classes

class  mrpt::bayes::CParticleFilter
 This class acts as a common interface to the different interfaces (see CParticleFilter::TParticleFilterAlgorithm) any bayes::CParticleFilterCapable class can implement: it is the invoker of particle filter algorithms. More...
 
class  mrpt::bayes::CParticleFilterCapable
 This virtual class defines the interface that any particles based PDF class must implement in order to be executed by a mrpt::bayes::CParticleFilter. More...
 
struct  mrpt::bayes::CParticleFilterDataImpl< Derived, particle_list_t >
 A curiously recurring template pattern (CRTP) approach to providing the basic functionality of any CParticleFilterData<> class. More...
 
class  mrpt::bayes::CParticleFilterData< T >
 This template class declares the array of particles and its internal data, managing some memory-related issues and providing an easy implementation of virtual methods required for implementing a CParticleFilterCapable. More...
 
struct  mrpt::bayes::CProbabilityParticle< T >
 A template class for holding a the data and the weight of a particle. More...
 
class  mrpt::math::CAtan2LookUpTable
 A look-up-table (LUT) of atan values for any (x,y) value in a square/rectangular grid of predefined resolution. More...
 
class  mrpt::math::CAtan2LookUpTableMultiRes
 Like CAtan2LookUpTable but with a multiresolution grid for increasingly better accuracy in points nearer to the origin. More...
 
class  mrpt::math::CBinaryRelation< T, U, UIsObject >
 This class models a binary relation through the elements of any given set. More...
 
class  mrpt::math::CHistogram
 This class provides an easy way of computing histograms for unidimensional real valued variables. More...
 
class  mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >
 An implementation of the Levenberg-Marquardt algorithm for least-square minimization. More...
 
class  mrpt::math::CMatrix
 This class is a "CSerializable" wrapper for "CMatrixFloat". More...
 
class  mrpt::math::CMatrixB
 This class is a "CSerializable" wrapper for "CMatrixBool". More...
 
class  mrpt::math::CMatrixD
 This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>". More...
 
class  mrpt::math::CMatrixFixedNumeric< T, NROWS, NCOLS >
 A numeric matrix of compile-time fixed size. More...
 
class  mrpt::math::CMatrixTemplate< T >
 This template class provides the basic functionality for a general 2D any-size, resizable container of numerical or non-numerical elements. More...
 
class  mrpt::math::CMatrixTemplateNumeric< T >
 A matrix of dynamic size. More...
 
class  mrpt::math::CMatrixTemplateObjects< T >
 This template class extends the class "CMatrixTemplate" for storing "objects" at each matrix entry. More...
 
class  mrpt::math::CMonteCarlo< T, NUM, OTHER >
 Montecarlo simulation for experiments in 1D. More...
 
class  mrpt::math::CQuaternion< T >
 A quaternion, which can represent a 3D rotation as pair $ (r,\mathbf{u}) $, with a real part "r" and a 3D vector $ \mathbf{u} = (x,y,z) $, or alternatively, q = r + ix + jy + kz. More...
 
class  mrpt::math::CRuntimeCompiledExpression
 A wrapper of exprtk runtime expression compiler: it takes a string representing an expression (from a simple mathematical formula to a complete program), compiles it and evaluates its result as many times as required. More...
 
class  mrpt::math::CSparseMatrix
 A sparse matrix structure, wrapping T. More...
 
class  mrpt::math::CSparseMatrixTemplate< T >
 A sparse matrix container (with cells of any type), with iterators. More...
 
class  mrpt::math::KDTreeCapable< Derived, num_t, metric_t >
 A generic adaptor class for providing Nearest Neighbor (NN) lookup via the nanoflann library. More...
 
struct  mrpt::math::MatrixBlockSparseCols< Scalar, NROWS, NCOLS, INFO, HAS_REMAP, INDEX_REMAP_MAP_IMPL >
 A templated column-indexed efficient storage of block-sparse Jacobian or Hessian matrices, together with other arbitrary information. More...
 
struct  mrpt::math::RobustKernel< KERNEL_TYPE, T >
 
struct  mrpt::math::RobustKernel< rkLeastSquares, T >
 No robust kernel, use standard least squares: rho(r) = r^2. More...
 
struct  mrpt::math::RobustKernel< rkPseudoHuber, T >
 Pseudo-huber robust kernel: rho(r) = 2 * delta^2 * ( -1+sqrt( 1+ r^2/delta^2 ) ) More...
 
class  mrpt::random::CRandomGenerator
 A thred-safe pseudo random number generator, based on an internal MT19937 randomness generator. More...
 
class  mrpt::system::CDirectoryExplorer
 This class allows the enumeration of the files/directories that exist into a given path. More...
 
class  mrpt::system::CFileSystemWatcher
 This class subscribes to notifications of file system changes, thus it can be used to efficiently stay informed about changes in a directory tree. More...
 
class  mrpt::utils::CArray< T, N >
 A STL container (as wrapper) for arrays of constant size defined at compile time. More...
 
class  mrpt::utils::CCanvas
 This virtual class defines the interface of any object accepting drawing primitives on it. More...
 
class  mrpt::utils::CConfigFile
 This class allows loading and storing values and vectors of different types from ".ini" files easily. More...
 
class  mrpt::utils::CConfigFileBase
 This class allows loading and storing values and vectors of different types from a configuration text, which can be implemented as a ".ini" file, a memory-stored string, etc... More...
 
class  mrpt::utils::CConfigFileMemory
 This class implements a config file-like interface over a memory-stored string list. More...
 
class  mrpt::utils::CConfigFilePrefixer
 A wrapper for other CConfigFileBase-based objects that prefixes a given token to every key and/or section. More...
 
class  mrpt::utils::CConsoleRedirector
 By creating an object of this class, all the output to std::cout (and std::cerr) will be redirected to a text file, and optionally also shown on the console. More...
 
class  mrpt::utils::CDebugOutputCapable
 This base class provides a common printf-like method to send debug information to std::cout, with the purpose of allowing its redirection to other streams if desired. More...
 
class  mrpt::utils::CDynamicGrid< T >
 A 2D grid of dynamic size which stores any kind of data at each cell. More...
 
class  mrpt::utils::CEnhancedMetaFile
 This class represents a Windows Enhanced Meta File (EMF) for generating and saving graphics. More...
 
class  mrpt::utils::CFileGZInputStream
 Transparently opens a compressed "gz" file and reads uncompressed data from it. More...
 
class  mrpt::utils::CFileInputStream
 This CStream derived class allow using a file as a read-only, binary stream. More...
 
class  mrpt::utils::CFileOutputStream
 This CStream derived class allow using a file as a write-only, binary stream. More...
 
class  mrpt::utils::CFileStream
 This CStream derived class allow using a file as a read/write binary stream, creating it if the file didn't exist. More...
 
class  mrpt::utils::CImage
 A class for storing images as grayscale or RGB bitmaps. More...
 
class  mrpt::utils::CListOfClasses
 A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the mechanism of CSerializable classes. More...
 
class  mrpt::utils::CLoadableOptions
 This is a virtual base class for sets of options than can be loaded from and/or saved to configuration plain-text files. More...
 
class  mrpt::utils::CMappedImage
 This class encapsulates a MRPT Image and allows the sampling of individual pixels with sub-pixel accuracy and with a change of coordinates (eg, meters). More...
 
class  mrpt::utils::CMemoryChunk
 A memory buffer (implements CStream) which can be itself serialized. More...
 
class  mrpt::utils::CMemoryStream
 This CStream derived class allow using a memory buffer as a CStream. More...
 
class  mrpt::utils::CMessage
 A class that contain generic messages, that can be sent and received from a "CClientTCPSocket" object. More...
 
class  mrpt::utils::CMHPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object (Multi-hypotheses version). More...
 
class  mrpt::utils::CObjectPtr
 A smart pointer to a CObject object. More...
 
struct  mrpt::utils::TRuntimeClassId
 A structure that holds runtime class type information. More...
 
struct  mrpt::utils::CLASSINIT
 Auxiliary structure used for CObject-based RTTI. More...
 
class  mrpt::utils::CObject
 The virtual base class of all MRPT classes with a unified RTTI system. More...
 
class  mrpt::utils::CObservable
 Inherit from this class for those objects capable of being observed by a CObserver class. More...
 
class  mrpt::utils::CObserver
 Inherit from this class to get notified about events from any CObservable object after subscribing to it. More...
 
class  mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >
 A generic template for probability density distributions (PDFs). More...
 
class  mrpt::utils::CPropertiesValuesList
 An arbitrary list of "annotations", or named attributes, each being an instance of any CSerializable object. More...
 
class  mrpt::utils::CRateTimer
 A class for calling sleep() in a loop, such that the amount of sleep time will be computed to make the loop run at the desired rate (in Hz). More...
 
class  mrpt::utils::CReferencedMemBlock
 Represents a memory block (via "void*") that can be shared between several objects through copy operator (=). More...
 
class  mrpt::utils::CSerializable
 The virtual base class which provides a unified interface for all persistent objects in MRPT. More...
 
class  mrpt::utils::CSimpleDatabaseTable
 This class implements the tables of databases. More...
 
class  mrpt::utils::CStdOutStream
 This CStdOutStream derived class allow printing to standard out, normally the console text output. More...
 
class  mrpt::utils::CStream
 This base class is used to provide a unified interface to files,memory buffers,..Please see the derived classes. More...
 
class  mrpt::utils::CStringList
 A class for storing a list of text lines. More...
 
class  mrpt::utils::CTextFileLinesParser
 A class for parsing text files, returning each non-empty and non-comment line, along its line number. More...
 
class  mrpt::utils::CThreadSafeQueue< T >
 A thread-safe template queue for object passing between threads; for a template argument of T, the objects being passed in the queue are "T*". More...
 
class  mrpt::utils::CTicTac
 This class implements a high-performance stopwatch. More...
 
class  mrpt::utils::CTimeLogger
 A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats. More...
 
struct  mrpt::utils::CTimeLoggerEntry
 A safe way to call enter() and leave() of a mrpt::utils::CTimeLogger upon construction and destruction of this auxiliary object, making sure that leave() will be called upon exceptions, etc. More...
 
class  mrpt::utils::CTypeSelector
 This class represents a std::string derived class which is also CSerializable. More...
 
class  mrpt::utils::CUncopiable
 The base class of classes that cannot be copied: compile-time errors will be issued on any copy operation. More...
 
class  mrpt::utils::CMRPTException
 The base for MRPT-especific exceptions. More...
 
class  mrpt::utils::mrptEvent
 The basic event type for the observer-observable pattern in MRPT. More...
 
class  mrpt::utils::mrptEventOnDestroy
 An event sent by any CObservable object (automatically) just before being destroyed and telling its observers to unsubscribe. More...
 
struct  mrpt::utils::pimpl< T >
 Pointer to IMPLementation auxiliary structure to make raw pointers movable, copiable and automatically deleted. More...
 
class  mrpt::utils::PLY_Importer
 A virtual base class that implements the capability of importing 3D point clouds and faces from a file in the Stanford PLY format. More...
 
class  mrpt::utils::PLY_Exporter
 A virtual base class that implements the capability of exporting 3D point clouds and faces to a file in the Stanford PLY format. More...
 
struct  mrpt::utils::safe_ptr_basic< T >
 A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
 
struct  mrpt::utils::safe_ptr< T >
 A wrapper class for pointers that can be safely copied with "=" operator without problems. More...
 
struct  mrpt::utils::non_copiable_ptr_basic< T >
 A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
 
struct  mrpt::utils::non_copiable_ptr< T >
 A wrapper class for pointers that can NOT be copied with "=" operator, raising an exception at runtime if a copy is attempted. More...
 
struct  mrpt::utils::ignored_copy_ptr< T >
 A wrapper class for pointers whose copy operations from other objects of the same type are ignored, that is, doing "a=b;" has no effect neiter on "a" or "b". More...
 
struct  mrpt::utils::copiable_NULL_ptr_basic< T >
 A wrapper class for pointers that, if copied with the "=" operator, should be set to NULL in the copy. More...
 
struct  mrpt::utils::copiable_NULL_ptr< T >
 A wrapper class for pointers that, if copied with the "=" operator, should be set to NULL in the new copy. More...
 
class  mrpt::utils::TCamera
 Structure to hold the parameters of a pinhole camera model. More...
 
struct  mrpt::utils::TColor
 A RGB color - 8bit. More...
 
struct  mrpt::utils::TColorf
 A RGB color - floats in the range [0,1]. More...
 
struct  mrpt::utils::TEnumTypeFiller< ENUMTYPE >
 Only specializations of this class are defined for each enum type of interest. More...
 
struct  mrpt::utils::TEnumType< ENUMTYPE >
 A helper class that can convert an enum value into its textual representation, and viceversa. More...
 
struct  mrpt::utils::TMatchingPair
 A structure for holding correspondences between two sets of points or points-like entities in 2D or 3D. More...
 
class  mrpt::utils::TMatchingPairList
 A list of TMatchingPair. More...
 
struct  mrpt::utils::TParameters< T >
 For usage when passing a dynamic number of (numeric) arguments to a function, by name. More...
 
struct  mrpt::utils::TPixelCoordf
 A pair (x,y) of pixel coordinates (subpixel resolution). More...
 

Namespaces

 mrpt::bayes
 The namespace for Bayesian filtering algorithm: different particle filters and Kalman filter algorithms.
 
 mrpt::compress
 Data compression/decompression algorithms.
 
 mrpt::compress::zip
 Compression using the "zip" algorithm and from/to gzip (gz) files.
 
 mrpt::math
 This base provides a set of functions for maths stuff.
 
 mrpt::math::jacobians
 A collection of functions to compute jacobians of diverse transformations, etc (some functions are redirections to existing methods elsewhere, so this namespace is actually used with grouping purposes).
 
 mrpt::random
 A namespace of pseudo-random numbers genrators of diferent distributions.
 
 mrpt::system
 This namespace provides a OS-independent interface to many useful functions: filenames manipulation, time and date, string parsing, file I/O, threading, memory allocation, etc.
 
 mrpt::system::os
 This namespace provides a OS-independent interface to low-level functions.
 
 mrpt::utils
 Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
 

Modules

 Custom I/O for math containers
 
 2D/3D points and poses
 
 2D/3D point and pose PDFs
 
 Synchronization, multi-threading synch tools
 
 Time and date functions (in #include <mrpt/system/datetime.h>)
 
 Directories, files, and file names (in #include <mrpt/system/filesystem.h>)
 
 OS and compiler abstraction (in #include <mrpt/system/os.h>)
 
 Load and save vectors to files (in #include <mrpt/system/vector_loadsave.h>)
 
 Networking, sockets, DNS
 
 Statistics functions, probability distributions
 
 
 
 Filtering algorithms
 
 Fourier transform functions
 
 Fresnel integrals (`#include <mrpt/math/fresnel.h>`)
 
 Geometry: lines, planes, intersections, SLERP, "lightweight" point & pose classes
 
 Interpolation, least-squares fit, splines
 
 KD-Trees
 
 Vector and matrices mathematical operations and other utilities
 
 Find polynomial roots (`#include <mrpt/math/poly_roots.h>`)
 
 RANSAC and other model fitting algorithms
 
 Gaussian PDF transformation functions
 
 Helper functions for MEX & MATLAB
 
 Memory utilities (in #include <mrpt/system/memory.h>)
 
 String management and utilities (in #include <mrpt/system/string_utils.h>)
 
 Threads (in #include <mrpt/system/threads.h>)
 
 STL extensions and metaprogramming
 
 Color map functions (in #include <mrpt/utils/color_maps.h>)
 
 CRC functions (in #include <mrpt/utils/crc.h>)
 
 Non-CStream serialization functions (in #include <mrpt/utils/CSerializable.h>)
 
 Exception base classes (in #include <mrpt/utils/exceptions.h>)
 
 Templates to declare integers by byte count (in #include <mrpt/utils/integer_select.h>)
 
 MD5 functions (in #include <mrpt/utils/md5.h>)
 
 Round functions (in #include <mrpt/utils/round.h>)
 
 Simple mrpt types (in #include <mrpt/utils/types_simple.h>)
 

Macros

#define CFileGZOutputStream   CFileOutputStream
 Saves data to a file and transparently compress the data using the given compression level. More...
 

Typedefs

typedef CThreadSafeQueue< CMessage > mrpt::utils::CMessageQueue
 A thread-safe class for message passing between threads. More...
 

Enumerations

enum  mrpt::math::TRobustKernelType { mrpt::math::rkLeastSquares = 0, mrpt::math::rkPseudoHuber }
 The different types of kernels for usage within a robustified least-squares estimator. More...
 
enum  mrpt::utils::TInterpolationMethod { mrpt::utils::IMG_INTERP_NN = 0, mrpt::utils::IMG_INTERP_LINEAR =1, mrpt::utils::IMG_INTERP_CUBIC =2, mrpt::utils::IMG_INTERP_AREA =3 }
 Interpolation methods for images. More...
 

RTTI classes and functions

typedef safe_ptr< TRuntimeClassId > mrpt::utils::TRuntimeClassIdPtr
 A wrapper class for a "TRuntimeClassId *", well-defined with respect to copy operators and constructors. More...
 
void BASE_IMPEXP mrpt::utils::registerClass (const mrpt::utils::TRuntimeClassId *pNewClass)
 Register a class into the MRPT internal list of "CSerializable" descendents. More...
 
void BASE_IMPEXP mrpt::utils::registerClassCustomName (const char *customName, const TRuntimeClassId *pNewClass)
 Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,...) More...
 
std::vector< const mrpt::utils::TRuntimeClassId * > BASE_IMPEXP mrpt::utils::getAllRegisteredClasses ()
 Returns a list with all the classes registered in the system through mrpt::utils::registerClass. More...
 
std::vector< const TRuntimeClassId * > BASE_IMPEXP mrpt::utils::getAllRegisteredClassesChildrenOf (const TRuntimeClassId *parent_id)
 Like getAllRegisteredClasses(), but filters the list to only include children clases of a given base one. More...
 
const TRuntimeClassId BASE_IMPEXPmrpt::utils::findRegisteredClass (const std::string &className)
 Return info about a given class by its name, or NULL if the class is not registered. More...
 
class BASE_IMPEXP mrpt::utils::CObject
 

Parsing of textfiles with poses

template<class POSE_T >
void mrpt::utils::readFileWithPoses (const std::string &fname, std::vector< POSE_T > *poses_vec, std::vector< mrpt::system::TTimeStamp > *timestamps=NULL, bool substract_init_offset=false)
 Parse the textfile and fill in the corresponding poses vector. More...
 

Macro Definition Documentation

#define CFileGZOutputStream   CFileOutputStream

Saves data to a file and transparently compress the data using the given compression level.

The generated files are in gzip format ("file.gz"). This class requires compiling MRPT with wxWidgets. If wxWidgets is not available then the class is actually mapped to the standard CFileOutputStream

See also
CFileOutputStream

Definition at line 27 of file CFileGZOutputStream.h.

Typedef Documentation

typedef CThreadSafeQueue<CMessage> mrpt::utils::CMessageQueue

A thread-safe class for message passing between threads.

See also
CThreadSafeQueue

Definition at line 23 of file CMessageQueue.h.

typedef safe_ptr<TRuntimeClassId> mrpt::utils::TRuntimeClassIdPtr

A wrapper class for a "TRuntimeClassId *", well-defined with respect to copy operators and constructors.

Definition at line 63 of file CObject.h.

Enumeration Type Documentation

Interpolation methods for images.

Used for OpenCV related operations with images, but also with MRPT native classes.

See also
mrpt::utils::CMappedImage, CImage::scaleImage
Enumerator
IMG_INTERP_NN 
IMG_INTERP_LINEAR 
IMG_INTERP_CUBIC 
IMG_INTERP_AREA 

Definition at line 31 of file CImage.h.

The different types of kernels for usage within a robustified least-squares estimator.

See also
Use these types as arguments of the template RobustKernel<>
Enumerator
rkLeastSquares 

No robust kernel, use standard least squares: rho(r)= 1/2 * r^2.

rkPseudoHuber 

Pseudo-huber robust kernel.

Definition at line 25 of file robust_kernels.h.

Function Documentation

const TRuntimeClassId BASE_IMPEXP* mrpt::utils::findRegisteredClass ( const std::string &  className)

Return info about a given class by its name, or NULL if the class is not registered.

See also
registerClass, getAllRegisteredClasses
std::vector<const mrpt::utils::TRuntimeClassId*> BASE_IMPEXP mrpt::utils::getAllRegisteredClasses ( )

Returns a list with all the classes registered in the system through mrpt::utils::registerClass.

See also
registerClass, findRegisteredClass
std::vector<const TRuntimeClassId*> BASE_IMPEXP mrpt::utils::getAllRegisteredClassesChildrenOf ( const TRuntimeClassId parent_id)

Like getAllRegisteredClasses(), but filters the list to only include children clases of a given base one.

See also
getAllRegisteredClasses(), getAllRegisteredClassesChildrenOf()
template<class POSE_T >
void mrpt::utils::readFileWithPoses ( const std::string &  fname,
std::vector< POSE_T > *  poses_vec,
std::vector< mrpt::system::TTimeStamp > *  timestamps = NULL,
bool  substract_init_offset = false 
)

Parse the textfile and fill in the corresponding poses vector.

The file to be parsed is to contain 2D or 3D poses along with their corresponding timestamps, one line for each.

The expected format is the following:

For 2D Poses: timestamp x y theta (in rad) For 3D Poses in RPY form : x y z yaw pitch roll For 3D Poses in Quaternion form : x y z qw qx qy qz For 3D Poses in Quaternion form [TUM Datasets] : x y z qx qy qz qw

The 2D format abides to the groundtruth file format used by the GridMapNavSimul application

The TUM format is compatible with the groundtruth format for the TUM RGBD datasets as generated by the * rgbd_dataset2rawlog MRPT tool.

Parameters
[in]fnameFilename from which the timestamps and poses are read
[out]poses_vecstd::vector which is to contain the 2D poses.
[out]timestampsstd::vector which is to contain the timestamps for the corresponding ground truth poses. Ignore this argument if timestamps are not needed.
[in]substract_init_offsetIf true, the filled poses are to start from 0, that means, that if the first found pose is non-zero, it's going to be considered and offset and substracted from all poses in the file.
See also
http://www.mrpt.org/Collection_of_Kinect_RGBD_datasets_with_ground_truth_CVPR_TUM_2011

Definition at line 140 of file pose_utils.h.

References ASSERTMSG_, mrpt::utils::CFileInputStream::close(), mrpt::system::fileExists(), mrpt::utils::CFileInputStream::fileOpenCorrectly(), mrpt::format(), mrpt::utils::internal::getPoseFromString(), MRPT_END, MRPT_START, and mrpt::utils::CFileInputStream::readLine().

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass().

void BASE_IMPEXP mrpt::utils::registerClass ( const mrpt::utils::TRuntimeClassId pNewClass)

Register a class into the MRPT internal list of "CSerializable" descendents.

Used internally in the macros DEFINE_SERIALIZABLE, etc...

See also
getAllRegisteredClasses

Referenced by mrpt::utils::CLASSINIT::CLASSINIT(), and mrpt::hwdrivers::CGenericSensor::isVerboseEnabled().

void BASE_IMPEXP mrpt::utils::registerClassCustomName ( const char *  customName,
const TRuntimeClassId pNewClass 
)

Mostly for internal use within mrpt sources, to handle exceptional cases with multiple serialization names for backward compatibility (CMultiMetricMaps, CImage,...)

Variable Documentation

Definition at line 26 of file CObject.h.




Page generated by Doxygen 1.8.11 for MRPT 1.5.0 Git: b140d0e Tue Jun 27 01:40:19 2017 +0200 at jue jun 29 00:00:26 CEST 2017