Classes | Typedefs | Functions
AISNavigation Namespace Reference
Graph | libmath

Classes

struct  ActivePathUniformCostFunction
struct  CholOptimizer
struct  CovariancePropagator
struct  Dijkstra
struct  Gradient
struct  Gradient< PoseGraph2D >
struct  Gradient< PoseGraph3D >
struct  Graph
class  GraphOptimizer
 base for all optimizers More...
struct  HCholOptimizer
struct  LoadedEdge
struct  LoadedEdge3D
struct  LoadedEdgeComparator
struct  LoadedEdgeComparator3D
struct  LocalGradient
struct  LocalGradient< PoseGraph2D >
struct  LocalGradient< PoseGraph3D >
struct  ManifoldGradient
struct  ManifoldGradient< PoseGraph2D >
struct  ManifoldGradient< PoseGraph3D >
struct  MotionJacobian
struct  MotionJacobian< PoseGraph< Transformation2, Matrix3 > >
struct  MotionJacobian< PoseGraph< Transformation3, Matrix6 > >
struct  PoseGraph
struct  PoseGraph2D
struct  PoseGraph3D
class  PoseGraph3DVis
 visualization of a pose graph (using a pointer to the graph) More...
struct  PosePropagator
struct  PoseUpdate
struct  PoseUpdate< PoseGraph2D >
struct  PoseUpdate< PoseGraph3D >
class  QGLGraphViewer
struct  SparseMatrixEntry
struct  SparseMatrixEntryPtrCmp
class  StandardCamera
struct  TaylorTerms
struct  TaylorTerms< PoseGraph2D >
struct  TaylorTerms< PoseGraph3D >
struct  TransformCovariance
struct  TransformCovariance< PoseGraph2D >
struct  TransformCovariance< PoseGraph3D >
struct  UniformCostFunction

Typedefs

typedef CholOptimizer
< PoseGraph2D > 		CholOptimizer2D
 the 2D cholesky optimizer
typedef CholOptimizer
< PoseGraph3D > 		CholOptimizer3D
 the 2D cholesky optimizer
typedef GraphOptimizer
< PoseGraph3D > 		GraphOptimizer3D
typedef HCholOptimizer
< PoseGraph2D > 		HCholOptimizer2D
 2D hirachical cholesky optimizer
typedef HCholOptimizer
< PoseGraph3D > 		HCholOptimizer3D
 3D hirachical cholesky optimizer
typedef std::set< LoadedEdge,
LoadedEdgeComparator > 		LoadedEdgeSet
typedef std::set< LoadedEdge3D,
LoadedEdgeComparator3D > 		LoadedEdgeSet3D
typedef GraphOptimizer
< PoseGraph2D > 		Optimizer2D

Functions

std::string changeFileExtension (const std::string &filename, const std::string &newExt, bool stripDot=false)
void connectedSubset (Graph::VertexSet &connected, Graph::VertexSet &visited, Graph::VertexSet &startingSet, Graph *g, Graph::Vertex *v, Dijkstra::CostFunction *cost, double distance, double comparisonConditioner)
bool createDirectory (const char *dirName, bool pub=false)
csn * cs_chol_workspace (const cs *A, const css *S, int *cin, double *xin)
int cs_cholsolinvblocksymb (const cs *A, double **block, int r1, int c1, int r2, int c2, double *y, const css *S, double *x, double *b, double *temp, int *work)
int cs_cholsolsymb (const cs *A, double *b, const css *S, double *workspace, int *work)
void eulerGradientXi (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void eulerGradientXj (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
bool fileExists (const char *filename)
std::string getBasename (const std::string &filename)
std::string getCurrentDateAsFilename ()
std::vector< std::string > getDirectoryElements (const char *dir, bool onlyFiles=false)
std::string getDirname (const std::string &filename)
std::string getFileExtension (const std::string &filename)
std::vector< std::string > getFilesByPattern (const char *pattern)
off_t getFileSize (const char *filename)
time_t getLastAccessDate (const char *filename)
time_t getLastModificationDate (const char *filename)
time_t getLastStatusChangeDate (const char *filename)
std::string getPureFilename (const std::string &filename)
bool isDirectory (const char *filename)
bool isRegularFile (const char *filename)
bool isSymbolicLink (const char *filename)
void loadEdges (LoadedEdgeSet &edges, istream &is, bool overrideCovariances)
void loadEdges (LoadedEdgeSet &edges, std::istream &is, bool overrideCovariances=false)
void loadEdges3D (LoadedEdgeSet3D &edges, std::istream &is, bool overrideCovariances=false)
void manifold2euler (Matrix6 &mat, double manifold[6])
void manifoldGradientXi (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void manifoldGradientXj (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void manifoldZero2euler (Matrix6 &mat, double manifold[6])
void motionJacobianMeasurement (Matrix6 &mat, const Vector6 &xi, const Vector6 &e)
void motionJacobianState (Matrix6 &mat, const Vector6 &xi, const Vector6 &e)
bool operator< (const Dijkstra::AdjacencyMapEntry &a, const Dijkstra::AdjacencyMapEntry &b)
void propagateJacobianManifold (Matrix6 &mat, const Vector6 &xi, const Vector6 &xj)
cs_sparse * SparseMatrixEntryPtrVector2CSparse (SparseMatrixEntry **entries, int r, int c, int nz)
cs_sparse * SparseMatrixEntryVector2CSparse (SparseMatrixEntry *entries, int r, int c, int nz)

Typedef Documentation

typedef CholOptimizer< PoseGraph2D > AISNavigation::CholOptimizer2D

the 2D cholesky optimizer

Definition at line 28 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer2d_chol.h.

typedef CholOptimizer< PoseGraph3D > AISNavigation::CholOptimizer3D

the 2D cholesky optimizer

Definition at line 28 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_chol.h.

typedef GraphOptimizer< PoseGraph3D > AISNavigation::GraphOptimizer3D

Definition at line 24 of file include/hogman_minimal/graph_optimizer/graph_optimizer3d.h.

typedef HCholOptimizer< PoseGraph2D > AISNavigation::HCholOptimizer2D

2D hirachical cholesky optimizer

Definition at line 29 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer2d_hchol.h.

typedef HCholOptimizer< PoseGraph3D > AISNavigation::HCholOptimizer3D

3D hirachical cholesky optimizer

Definition at line 29 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_hchol.h.

typedef std::set< LoadedEdge, LoadedEdgeComparator > AISNavigation::LoadedEdgeSet

Definition at line 51 of file include/hogman_minimal/graph_optimizer/graph_optimizer2d_aux.h.

typedef std::set< LoadedEdge3D, LoadedEdgeComparator3D > AISNavigation::LoadedEdgeSet3D

Definition at line 55 of file include/hogman_minimal/graph/loadEdges3d.h.

typedef GraphOptimizer< PoseGraph2D > AISNavigation::Optimizer2D

Definition at line 25 of file include/hogman_minimal/graph_optimizer/graph_optimizer2d.h.

Function Documentation

std::string AISNavigation::changeFileExtension ( const std::string &  filename,
const std::string &  newExt,
bool  stripDot = false 
)

change the fileextension of a given filename. Only if filename contains an extension, otherwise filename is returned.

Definition at line 79 of file filesys_tools.cpp.

void AISNavigation::connectedSubset ( Graph::VertexSet &  connected,
Graph::VertexSet &  visited,
Graph::VertexSet &  startingSet,
Graph *  g,
Graph::Vertex *  v,
Dijkstra::CostFunction *  cost,
double  distance,
double  comparisonConditioner 
)

Definition at line 163 of file dijkstra.cpp.

bool AISNavigation::createDirectory ( const char *  dirName,
bool  pub = false 
)

create a directory. if pub is true, then the rights of the dir will be rwxrwxrwx (readable and writable for everyone)

csn * AISNavigation::cs_chol_workspace ( const cs *  A,
const css *  S,
int *  cin,
double *  xin 
)

Definition at line 94 of file csparse_helper.cpp.

int AISNavigation::cs_cholsolinvblocksymb ( const cs *  A,
double **  block,
int  r1,
int  c1,
int  r2,
int  c2,
double *  y,
const css *  S,
double *  x,
double *  b,
double *  temp,
int *  work 
)

Definition at line 50 of file csparse_helper.cpp.

int AISNavigation::cs_cholsolsymb ( const cs *  A,
double *  b,
const css *  S,
double *  workspace,
int *  work 
)

Definition at line 23 of file csparse_helper.cpp.

void AISNavigation::eulerGradientXi ( Matrix6 &  mat,
const Vector6 &  e,
const Vector6 &  xi,
const Vector6 &  xj 
) [inline]

Definition at line 446 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::eulerGradientXj ( Matrix6 &  mat,
const Vector6 &  e,
const Vector6 &  xi,
const Vector6 &  xj 
) [inline]

Definition at line 584 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

bool AISNavigation::fileExists ( const char *  filename)

check if file exists (note a directory is also a file)

Definition at line 91 of file filesys_tools.cpp.

std::string AISNavigation::getBasename ( const std::string &  filename)

return the basename of the given filename /etc/fstab -> fstab

Definition at line 61 of file filesys_tools.cpp.

std::string AISNavigation::getCurrentDateAsFilename ( )

return the current date as a filename of the form YYYYMMDD_hhmmss

Definition at line 119 of file filesys_tools.cpp.

std::vector< std::string > AISNavigation::getDirectoryElements ( const char *  dir,
bool  onlyFiles = false 
)

return all filenames in the given directory, may also be a sub directory if, onlyFiles is true, only files are returned

Definition at line 197 of file filesys_tools.cpp.

std::string AISNavigation::getDirname ( const std::string &  filename)

return the directory of a given filename /etc/fstab -> /etc

Definition at line 70 of file filesys_tools.cpp.

std::string AISNavigation::getFileExtension ( const std::string &  filename)

get filename extension (the part after the last .), e.g. the extension of file.txt is txt

Definition at line 43 of file filesys_tools.cpp.

std::vector< std::string > AISNavigation::getFilesByPattern ( const char *  pattern)

return all files that match a given pattern, e.g., ~/blaa*.txt, /tmp/a*

Definition at line 223 of file filesys_tools.cpp.

off_t AISNavigation::getFileSize ( const char *  filename)

return the size of the file in bytes.

Returns:
the size of the file (type is off_t -> if large file support, then 64 bit). -1 on error.

Definition at line 187 of file filesys_tools.cpp.

time_t AISNavigation::getLastAccessDate ( const char *  filename)

return date of last access to a file

Definition at line 139 of file filesys_tools.cpp.

time_t AISNavigation::getLastModificationDate ( const char *  filename)

return the modification date of a file

Definition at line 129 of file filesys_tools.cpp.

time_t AISNavigation::getLastStatusChangeDate ( const char *  filename)

return date of last status change of a file

Definition at line 149 of file filesys_tools.cpp.

std::string AISNavigation::getPureFilename ( const std::string &  filename)

get the filename without the extension. file.txt -> file

Definition at line 52 of file filesys_tools.cpp.

bool AISNavigation::isDirectory ( const char *  filename)

is the given filename a valid direcory, e.g. exists

Definition at line 103 of file filesys_tools.cpp.

bool AISNavigation::isRegularFile ( const char *  filename)

checks if file exists and is a file

Definition at line 97 of file filesys_tools.cpp.

bool AISNavigation::isSymbolicLink ( const char *  filename)

is the given file a symbolic link

Definition at line 109 of file filesys_tools.cpp.

void AISNavigation::loadEdges ( LoadedEdgeSet &  edges,
istream &  is,
bool  overrideCovariances 
)

Definition at line 26 of file graph_optimizer2d_aux.cpp.

void AISNavigation::loadEdges ( LoadedEdgeSet &  edges,
std::istream &  is,
bool  overrideCovariances = false 
)
void AISNavigation::loadEdges3D ( LoadedEdgeSet3D &  edges,
std::istream &  is,
bool  overrideCovariances = false 
)

Definition at line 25 of file loadEdges3d.cpp.

void AISNavigation::manifold2euler ( Matrix6 &  mat,
double  manifold[6] 
) [inline]

Definition at line 278 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldGradientXi ( Matrix6 &  mat,
const Vector6 &  e,
const Vector6 &  xi,
const Vector6 &  xj 
) [inline]

Definition at line 25 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldGradientXj ( Matrix6 &  mat,
const Vector6 &  e,
const Vector6 &  xi,
const Vector6 &  xj 
) [inline]

Definition at line 158 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldZero2euler ( Matrix6 &  mat,
double  manifold[6] 
) [inline]

Definition at line 385 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::motionJacobianMeasurement ( Matrix6 &  mat,
const Vector6 &  xi,
const Vector6 &  e 
) [inline]

Definition at line 876 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

void AISNavigation::motionJacobianState ( Matrix6 &  mat,
const Vector6 &  xi,
const Vector6 &  e 
) [inline]

Definition at line 791 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

bool AISNavigation::operator< ( const Dijkstra::AdjacencyMapEntry &  a,
const Dijkstra::AdjacencyMapEntry &  b 
)

Definition at line 54 of file dijkstra.cpp.

void AISNavigation::propagateJacobianManifold ( Matrix6 &  mat,
const Vector6 &  xi,
const Vector6 &  xj 
) [inline]

Definition at line 703 of file include/hogman_minimal/graph/posegraph3d_gradient.h.

cs_sparse * AISNavigation::SparseMatrixEntryPtrVector2CSparse ( SparseMatrixEntry **  entries,
int  r,
int  c,
int  nz 
) [inline]

convert to csparse matrix, hoewever, we assume that the pointer are already sorted using the SparseMatrixEntryPtrCmp defined above

Definition at line 85 of file include/hogman_minimal/graph_optimizer_hogman/csparse_helper.h.

cs_sparse * AISNavigation::SparseMatrixEntryVector2CSparse ( SparseMatrixEntry *  entries,
int  r,
int  c,
int  nz 
) [inline]

Definition at line 54 of file include/hogman_minimal/graph_optimizer_hogman/csparse_helper.h.

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hogman_minimal
Author(s): Maintained by Juergen Sturm
autogenerated on Wed Dec 26 2012 15:36:50