Class CEdgeCounter

Class Documentation

class CEdgeCounter

Generic class for tracking the total number of edges for different tpes of edges and for storing visualization-related information for each type.

Public Types

using iterator = std::map<std::string, int>::iterator
using const_iterator = std::map<std::string, int>::const_iterator

Public Functions

CEdgeCounter()
~CEdgeCounter() = default
void setWindowManagerPtr(mrpt::graphslam::CWindowManager *win_manager)

Provide the instance with a CWindowManager.

void setRemovedEdges(int removed_edges)

State how many of the existing edges have been removed.

Method is to be called after CNetworkOfPoses::collapseDuplicatedEdges method has been executed.

void setLoopClosureEdgesManually(int num_loop_closures)

Method for manually setting the number of loop closures registered so far.

int getLoopClosureEdges() const

Returns the edges that form loop closures in the current graph.

int getTotalNumOfEdges() const

Return the total amount of registered edges.

See also

getNumForEdgeType, getLoopClosureEdges

void getTotalNumOfEdges(int *total_num_edges) const

Return the total amount of registered edges.

See also

getNumForEdgeType, getLoopClosureEdges

int getNumForEdgeType(const std::string &name) const

Return the number of edges for the specified type.

See also

getTotalNumOfEdges

Throws:

std::exception – If edge is not found

void getNumForEdgeType(const std::string &name, int *total_num)

Return the number of edges for the specified type.

See also

getTotalNumOfEdges

Throws:

std::exception – If edge is not found

void setEdgesManually(const std::string &name, int num_of_edges)

Set number of a specific edge type manually.

Handy for not having to call addEdge multiple times in a row.

See also

addEdge

void addEdge(const std::string &name, bool is_loop_closure = false, bool is_new = false)

Increment the number of edges for the specified type.

See also

setEdgesManually

Throws:

std::exception – If edge exists and is_new is True

void addEdgeType(const std::string &name)

Explicitly register a new edge type.

void clearAllEdges()

Reset the state of the CEdgeCounter instance.

void dumpToConsole() const

Dump a report of the registered, so far, edges to the console.

See also

getAsString

void getAsString(std::string *str_out) const

Fill the provided string with a detailed report of the registered, so far, edges.

std::string getAsString() const

Return a detailed report of the registered, so far, edges in a string representation.

void setTextMessageParams(const std::map<std::string, double> &name_to_offset_y, const std::map<std::string, int> &name_to_text_index)

Add the textMessage parameters to the object All the names in the given std::maps have to be already specified and added in the object via addEdge with is_new=true or addEdgeType.

Throws:

std::exception – If a name in the provided std::map doesn’t already exist

void setTextMessageParams(const std::map<std::string, double> &name_to_offset_y, const std::map<std::string, int> &name_to_text_index, double offset_y_total_edges, int text_index_total_edges, double offset_y_loop_closures, int text_index_loop_closures)

Handle the extra visualization parameters for the total number of edges and for loop closures and then passes execution to the other setTextMessageParams function.

inline iterator begin()

Instance Iterators.

inline const_iterator cbegin() const
inline iterator end()
inline const_iterator cend() const