posegraph3.hh

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/**********************************************************************
 *
 * This source code is part of the Tree-based Network Optimizer (TORO)
 *
 *   TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, 
 *                           Slawomir Grzonka and  Wolfram Burgard
 *
 * TORO is licences under the Common Creative License,
 * Attribution-NonCommercial-ShareAlike 3.0
 *
 * You are free:
 *   - to Share - to copy, distribute and transmit the work
 *   - to Remix - to adapt the work
 *
 * Under the following conditions:
 *
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 *     by the author or licensor (but not in any way that suggests that
 *     they endorse you or your use of the work).
 *  
 *   - Noncommercial. You may not use this work for commercial purposes.
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 *   - Share Alike. If you alter, transform, or build upon this work,
 *     you may distribute the resulting work only under the same or
 *     similar license to this one.
 *
 * Any of the above conditions can be waived if you get permission
 * from the copyright holder.  Nothing in this license impairs or
 * restricts the author's moral rights.
 *
 * TORO is distributed in the hope that it will be useful,
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#ifndef _POSEGRAPH3_HH_
#define _POSEGRAPH3_HH_

#include "posegraph.hh"
#include "transformation3.hh"
#include <iostream>
#include <vector>

typedef unsigned int uint;
#ifndef M_PI
        #define M_PI 3.14159265359
#endif

namespace AISNavigation {


struct TreePoseGraph3: public TreePoseGraph<Operations3D<double> >{
  typedef Operations3D<double> Ops;
  
  typedef Ops::PoseType           Pose;
  typedef Ops::RotationType       Rotation;
  typedef Ops::TranslationType    Translation;
  typedef Ops::TransformationType Transformation;
  typedef Ops::CovarianceType     CovarianceMatrix;
  typedef Ops::InformationType    InformationMatrix;


  bool load( const char* filename, bool overrideCovariances=false, bool twoDimensions=false); 

  bool loadEquivalences( const char* filename); 

  bool save( const char* filename);

  bool saveGnuplot( const char* filename);

  void printDepth( std::ostream& os );

  void printWidth( std::ostream& os );

  void printEdgesStat( std::ostream& os);

  void initializeOnTree();
  
  void recomputeAllTransformations();

  virtual void initializeFromParentEdge(Vertex* v);

  virtual void revertEdgeInfo(Edge* e);

  virtual void collapseEdge(Edge* e);

  int verboseLevel;

protected:

  struct ParameterPropagator{
    inline void perform(TreePoseGraph3::Vertex* v){
      if (!v->parent){
        v->parameters=TreePoseGraph3::Transformation(0.,0.,0.,0.,0.,0.);
        return;
      }
      v->parameters=v->parent->transformation.inv()*v->transformation;
    }
  };

  struct TransformationPropagator{
    inline void perform(TreePoseGraph3::Vertex* v){
      if (!v->parent){
        return;
      }
      v->transformation=v->parent->transformation*v->parameters;
    }
  };

};


}; //namespace AISNavigation
#endif