AISNavigation::TreePoseGraph3 Struct Reference

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...

#include <posegraph3.hh>

Inheritance diagram for AISNavigation::TreePoseGraph3:

List of all members.

Classes
struct	ParameterPropagator
	A class (struct) to compute the parameterization of the vertex v. More...
struct	TransformationPropagator
	A class (struct) to compute the parameterization of the vertex v. More...
Public Types
typedef Ops::CovarianceType	CovarianceMatrix
typedef Ops::InformationType	InformationMatrix
typedef Operations3D< double >	Ops
typedef Ops::PoseType	Pose
typedef Ops::RotationType	Rotation
typedef Ops::TransformationType	Transformation
typedef Ops::TranslationType	Translation
Public Member Functions
virtual void	collapseEdge (Edge *e)
virtual void	initializeFromParentEdge (Vertex *v)
void	initializeOnTree ()
bool	load (const char *filename, bool overrideCovariances=false, bool twoDimensions=false)
bool	loadEquivalences (const char *filename)
void	printDepth (std::ostream &os)
void	printEdgesStat (std::ostream &os)
void	printWidth (std::ostream &os)
void	recomputeAllTransformations ()
virtual void	revertEdgeInfo (Edge *e)
bool	save (const char *filename)
bool	saveGnuplot (const char *filename)
Public Attributes
int	verboseLevel

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Detailed Description

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.

Definition at line 61 of file posegraph3.hh.

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Member Typedef Documentation

typedef Ops::CovarianceType AISNavigation::TreePoseGraph3::CovarianceMatrix

Definition at line 68 of file posegraph3.hh.

typedef Ops::InformationType AISNavigation::TreePoseGraph3::InformationMatrix

Definition at line 69 of file posegraph3.hh.

typedef Operations3D<double> AISNavigation::TreePoseGraph3::Ops

Definition at line 62 of file posegraph3.hh.

typedef Ops::PoseType AISNavigation::TreePoseGraph3::Pose

Reimplemented from AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 64 of file posegraph3.hh.

typedef Ops::RotationType AISNavigation::TreePoseGraph3::Rotation

Reimplemented from AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 65 of file posegraph3.hh.

typedef Ops::TransformationType AISNavigation::TreePoseGraph3::Transformation

Reimplemented from AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 67 of file posegraph3.hh.

typedef Ops::TranslationType AISNavigation::TreePoseGraph3::Translation

Reimplemented from AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 66 of file posegraph3.hh.

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Member Function Documentation

void AISNavigation::TreePoseGraph3::collapseEdge

(

Edge *

e

)

[virtual]

Function to compress a graph. Needed if, for example, equivalence constraints are used to build a graoh structure with indices without gaps.

Definition at line 306 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::initializeFromParentEdge

(

Vertex *

v

)

[virtual]

Revert edge info. This function needs to be implemented by a subclass

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 298 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::initializeOnTree

(

)

Initializes the parameters based on the topology of the tree and the actual transformation

Definition at line 276 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::load	(	const char *	filename,
		bool	overrideCovariances = false,
		bool	twoDimensions = false
	)

Load a graph from a file ignoring the equivalence constraints

Parameters:

filename	the graph file
overrideCovariances	ignore the covariances from the file, and use identities instead

Definition at line 58 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::loadEquivalences

(

const char *

filename

)

Load only the equivalence constraints from a graph file (call load before)

Definition at line 152 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printDepth

(

std::ostream &

os

)

Debug function

Definition at line 249 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printEdgesStat

(

std::ostream &

os

)

Debug function

Definition at line 282 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printWidth

(

std::ostream &

os

)

Debug function

Definition at line 254 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::recomputeAllTransformations

(

)

Recomputes all the transformations based on the parameters and the tree

Definition at line 400 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::revertEdgeInfo

(

Edge *

e

)

[virtual]

Turn around the edge (<i,j> => <j,i>)

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 292 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::save

(

const char *

filename

)

Saves the graph in the graph-format

Definition at line 208 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::saveGnuplot

(

const char *

filename

)

Saved the graph for visualizing it using gnuplot

Definition at line 185 of file posegraph3.cpp.

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Member Data Documentation

int AISNavigation::TreePoseGraph3::verboseLevel

Specifies the verbose level for debugging

Definition at line 113 of file posegraph3.hh.

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The documentation for this struct was generated from the following files:

• posegraph3.hh
• posegraph3.cpp