Implementation for graph functions. More...
#include <yaml-cpp/yaml.h>#include <fstream>#include <boost/graph/dijkstra_shortest_paths.hpp>#include <boost/foreach.hpp>#include <bwi_mapper/graph.h>#include <bwi_mapper/map_utils.h>#include <bwi_mapper/point_utils.h>#include <opencv2/opencv_modules.hpp>
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Namespaces | |
| namespace | bwi_mapper |
Functions | |
| void | bwi_mapper::drawArrowOnGraph (cv::Mat &image, const Graph &graph, std::pair< size_t, float > arrow, uint32_t map_width, uint32_t map_height, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0) |
| void | bwi_mapper::drawArrowOnImage (cv::Mat &image, const cv::Point2f &arrow_center, float orientation, const cv::Scalar &color, int size, int thickness) |
| void | bwi_mapper::drawCircleOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0) |
| void | bwi_mapper::drawGraph (cv::Mat &image, const Graph &graph, uint32_t orig_x=0, uint32_t orig_y=0, bool put_text=true, bool put_all_edges=true, std::vector< std::pair< size_t, size_t > > specific_edges=std::vector< std::pair< size_t, size_t > >()) |
| draws the given graph onto an image starting at (orig_x, orig_y) | |
| void | bwi_mapper::drawSquareOnGraph (cv::Mat &image, const Graph &graph, size_t node, cv::Scalar color=cv::Scalar(0, 0, 255), uint32_t orig_x=0, uint32_t orig_y=0, int size=30, int thickness=2) |
| void | bwi_mapper::getAdjacentNodes (size_t v, const Graph &graph, std::vector< size_t > &adjacent_vertices) |
| size_t | bwi_mapper::getClosestEdgeOnGraphGivenId (const Point2f &point, const Graph &graph, size_t one_graph_id) |
| size_t | bwi_mapper::getClosestIdOnGraph (const Point2f &point, const Graph &graph, double threshold=0.0) |
| size_t | bwi_mapper::getClosestIdOnGraphFromEdge (const Point2f &point, const Graph &graph, size_t prev_graph_id) |
| float | bwi_mapper::getEuclideanDistance (size_t u, size_t v, const Graph &graph) |
| Point2f | bwi_mapper::getLocationFromGraphId (int idx, const Graph &graph) |
| float | bwi_mapper::getNodeAngle (size_t u, size_t v, const Graph &graph) |
| float | bwi_mapper::getShortestPathDistance (size_t start_idx, size_t goal_idx, const Graph &graph) |
| float | bwi_mapper::getShortestPathWithDistance (size_t start_idx, size_t goal_idx, std::vector< size_t > &path_from_goal, const Graph &graph) |
| void | bwi_mapper::getVisibleNodes (size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &grid, std::vector< size_t > &visible_vertices, float visibility_range=0.0f) |
| bool | bwi_mapper::isVisible (size_t u, size_t v, const Graph &graph, const nav_msgs::OccupancyGrid &map) |
| void | bwi_mapper::readGraphFromFile (const std::string &filename, const nav_msgs::MapMetaData &info, Graph &graph) |
| void | bwi_mapper::writeGraphToFile (const std::string &filename, const Graph &graph, const nav_msgs::MapMetaData &info) |
Detailed Description
Implementation for graph functions.
Copyright (c) 2013, UT Austin
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$ Id: 04/18/2013 05:10:28 PM piyushk $
Definition in file graph.cpp.