Public Types |
| typedef OBJECT_CONTEXT::DOF6 | DOF6 |
| typedef OBJECT_CONTEXT | OBJCTXT |
| typedef OBJCTXT::OBJECT | OBJECT |
| typedef boost::shared_ptr< Node > | Ptr |
Public Member Functions |
| bool | addCtxt (const OBJCTXT &ctxt, const DOF6 &tf) |
| void | addLink (const SWAY< Node > &con) |
| bool | compute (const OBJCTXT &ctxt, DOF6 &link, std::map< typename OBJECT::Ptr, bool > &used, std::map< const Node *, bool > &_visited_list_, const bool only_merge=false, const int depth=0) |
| const std::vector< SWAY< Node > > & | getConnections () const |
| const OBJECT_CONTEXT & | getContext () const |
| size_t | getNumObjs () const |
| bool | merge (const OBJCTXT &ctxt, const DOF6 &tf, std::map< typename OBJECT::Ptr, bool > &used, const BoundingBox::TransformedFoVBB &fov, const bool only_merge) |
| bool | registration (const OBJCTXT &ctxt, DOF6 &tf, typename DOF6::TYPE &probability_success_rate, typename DOF6::TYPE &probability_error_rate) |
Private Member Functions |
| void | _merge (const OBJCTXT &ctxt, const DOF6 &link, std::map< typename OBJECT::Ptr, bool > &used, std::map< const Node *, bool > &_visited_list_, const bool only_merge=false, const int depth=0) |
| bool | _register (const OBJCTXT &ctxt, DOF6 &link, std::map< typename OBJECT::Ptr, bool > &used, std::map< const Node *, bool > &_visited_list_, const bool only_merge=false, const int depth=0) |
| | context includes all operators for objects (registration, correspondences,...) + objects
|
Private Attributes |
| std::vector< SWAY< Node > > | connections_ |
| OBJCTXT | ctxt_ |
| | connections to other nodes
|
template<typename OBJECT_CONTEXT>
class Slam::Node< OBJECT_CONTEXT >
properties:
- atom node is a seen object
- non-atom node is a view-point
- each atom node can be reached by max. 2 hops
Definition at line 84 of file node.h.