GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts: More...

#include <graph_handler.h>

Public Types
typedef boost::shared_ptr < const GraphHandler< GraphT > >	ConstPtr
typedef boost::graph_traits < GraphT >::edge_descriptor	Edge
typedef boost::shared_ptr < const GraphT >	GraphConstPtr
typedef boost::shared_ptr< GraphT >	GraphPtr
typedef boost::shared_ptr < GraphHandler< GraphT > >	Ptr
typedef boost::graph_traits < GraphT >::vertex_descriptor	Vertex
Public Member Functions
template<class MeasurementT >
Edge	addGenericConstraint (const MeasurementT &measurement)
	Add a generic constraint created according to the given measurement.
template<class EstimateT >
Vertex	addGenericVertex (const EstimateT &estimate)
	Add a new generic vertex created according to the given estimate.
template<class PointT >
Vertex	addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose)
	Add a new point cloud to the graph and return the new vertex.
template<class InformationT >
Edge	addPoseConstraint (const Vertex &v_start, const Vertex &v_end, const Eigen::Matrix4f &relative_transformation, const InformationT &information_matrix)
	Add a new constraint between two poses.
void	clear ()
	Clear the graph.
GraphConstPtr	getGraph () const
	Get a pointer to the BGL graph.
GraphPtr	getGraph ()
	Get a pointer to the BGL graph.
	GraphHandler ()
	Empty constructor.
void	removeConstraint (const Edge &e)
	Remove a constraint from the graph.
void	removeVertex (const Vertex &v)
	Remove a vertex from the graph.
	~GraphHandler ()
	Destructor.
Protected Member Functions
bool	deinit ()
	This method is called when graph_impl_ is going to be destroyed.
bool	init ()
	This method is called right after the creation of graph_impl_.
Private Attributes
GraphPtr	graph_impl_

Detailed Description

template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >

GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts:

BidirectionalGraph
AdjacencyGraph
VertexAndEdgeListGraph
MutableGraph

Other valid expressions:

add_edge (m,g) add a new edge according to the given measurement. Return type: std::pair<edge_descriptor, bool>
add_vertex (e,g) add a new vertex according to the given estimate. Return type: vertex_descriptor
get_pose (v,g) retrieve the pose estimate for v, if any. Return type: Eigen::Matrix4f
get_cloud (v,g) retrieve the cloud pointer associated to v, if any. Return type: pcl::PointCloud<PointT>::ConstPtr
set_estimate (v,e,g) set the estimate for an existing vertex. Return type: void.
set_measurement (d,m,g) set the measurement for an existing edge. Return type: void. Notation:
m an edge measurement
e a vertex estimate
v a vertex
d an edge
g a graph A valid graph implementation should accept at least the PoseEstimate estimate and the PoseMeasurement measurement

If a specific graph implementation needs initialization and/or finalization, specialize the protected methods init() and deinit() for your graph type

Author:: Nicola Fioraio

Definition at line 82 of file graph_handler.h.

Member Typedef Documentation

template<typename GraphT>

typedef boost::shared_ptr<const GraphHandler<GraphT> > pcl::registration::GraphHandler< GraphT >::ConstPtr

Definition at line 86 of file graph_handler.h.

template<typename GraphT>

typedef boost::graph_traits<GraphT>::edge_descriptor pcl::registration::GraphHandler< GraphT >::Edge

Definition at line 91 of file graph_handler.h.

template<typename GraphT>

typedef boost::shared_ptr<const GraphT> pcl::registration::GraphHandler< GraphT >::GraphConstPtr

Definition at line 88 of file graph_handler.h.

template<typename GraphT>

typedef boost::shared_ptr<GraphT> pcl::registration::GraphHandler< GraphT >::GraphPtr

Definition at line 87 of file graph_handler.h.

template<typename GraphT>

typedef boost::shared_ptr<GraphHandler<GraphT> > pcl::registration::GraphHandler< GraphT >::Ptr

Definition at line 85 of file graph_handler.h.

template<typename GraphT>

typedef boost::graph_traits<GraphT>::vertex_descriptor pcl::registration::GraphHandler< GraphT >::Vertex

Definition at line 90 of file graph_handler.h.

Constructor & Destructor Documentation

template<typename GraphT>

pcl::registration::GraphHandler< GraphT >::GraphHandler ( ) [inline]

Empty constructor.

Definition at line 94 of file graph_handler.h.

template<typename GraphT>

pcl::registration::GraphHandler< GraphT >::~GraphHandler ( ) [inline]

Destructor.

Definition at line 101 of file graph_handler.h.

Member Function Documentation

template<typename GraphT>

template<class MeasurementT >

Edge pcl::registration::GraphHandler< GraphT >::addGenericConstraint ( const MeasurementT & measurement ) [inline]

Add a generic constraint created according to the given measurement.

Parameters:

measurement the measurement

Returns:: a reference to the new edge

Definition at line 172 of file graph_handler.h.

template<typename GraphT>

template<class EstimateT >

Vertex pcl::registration::GraphHandler< GraphT >::addGenericVertex ( const EstimateT & estimate ) [inline]

Add a new generic vertex created according to the given estimate.

Parameters:

estimate the parameters' estimate

Returns:: a reference to the new vertex

Definition at line 146 of file graph_handler.h.

template<typename GraphT>

template<class PointT >

Vertex pcl::registration::GraphHandler< GraphT >::addPointCloud	(	const typename pcl::PointCloud< PointT >::ConstPtr &	cloud,
		const Eigen::Matrix4f &	pose
	)		`[inline]`

Add a new point cloud to the graph and return the new vertex.

Parameters:

cloud	the new point cloud
pose	the pose estimate

Returns:: a reference to the new vertex

Definition at line 136 of file graph_handler.h.

template<typename GraphT>

template<class InformationT >

Edge pcl::registration::GraphHandler< GraphT >::addPoseConstraint	(	const Vertex &	v_start,
		const Vertex &	v_end,
		const Eigen::Matrix4f &	relative_transformation,
		const InformationT &	information_matrix
	)		`[inline]`

Add a new constraint between two poses.

Parameters:

v_start	the first pose
v_end	the second pose
relative_transformation	the transformation from v_start to v_end
information_matrix	the uncertainty

Returns:: a reference to the new edge

Definition at line 159 of file graph_handler.h.

template<typename GraphT>

void pcl::registration::GraphHandler< GraphT >::clear ( ) [inline]

Clear the graph.

Definition at line 108 of file graph_handler.h.

template<typename GraphT>

bool pcl::registration::GraphHandler< GraphT >::deinit ( ) [inline, protected]

This method is called when graph_impl_ is going to be destroyed.

Definition at line 205 of file graph_handler.h.

template<typename GraphT>

GraphConstPtr pcl::registration::GraphHandler< GraphT >::getGraph ( ) const [inline]

Get a pointer to the BGL graph.

Definition at line 118 of file graph_handler.h.

template<typename GraphT>

GraphPtr pcl::registration::GraphHandler< GraphT >::getGraph ( ) [inline]

Get a pointer to the BGL graph.

Definition at line 125 of file graph_handler.h.

template<typename GraphT>

bool pcl::registration::GraphHandler< GraphT >::init ( ) [inline, protected]

This method is called right after the creation of graph_impl_.

Definition at line 198 of file graph_handler.h.

template<typename GraphT>

void pcl::registration::GraphHandler< GraphT >::removeConstraint ( const Edge & e ) [inline]

Remove a constraint from the graph.

Parameters:

e the edge

Definition at line 190 of file graph_handler.h.

template<typename GraphT>

void pcl::registration::GraphHandler< GraphT >::removeVertex ( const Vertex & v ) [inline]

Remove a vertex from the graph.

Parameters:

v	the vertex

Definition at line 181 of file graph_handler.h.

Member Data Documentation

template<typename GraphT>

GraphPtr pcl::registration::GraphHandler< GraphT >::graph_impl_ [private]

Definition at line 211 of file graph_handler.h.

The documentation for this class was generated from the following file:

graph_handler.h

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

template<typename GraphT> class pcl::registration::GraphHandler< GraphT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename GraphT>
class pcl::registration::GraphHandler< GraphT >