Pose Describe a pose on current map represented by: - X, Y, Theta: coordinate in the map - ErrorX, ErrorY, ErrorTheta: the estimated error  
Room Represent a room on the map A room is a place (center of the room) without projection and that may contain spots Rooms are described by their id/type/pose  
Spot Spots are special places in a map representing a specific use. 
StoredMap StoreMap represents a map that keecker can use.