graphmap.cpp

Go to the documentation of this file.

#ifndef GRAPHMAP_H
#define GRAPHMAP_H
#include <list>
#include <gmapping/utils/point.h>
#include <utils/graph.h>
#include <gmapping/grid/map.h>

namespace GMapping {

class RasterMap;

struct GraphMapPatch{
        typedef typename std::list<IntPoint> PointList; 
        //void render(RenderMap rmap);
        //Point minBoundary() const; 
        //Point maxBoundary() const; // 

        OrientedPoint center;
        PointList m_points;
};

struct Covariance3{
        double sxx, sxy, sxt, syy, syt ,stt;
};

struct GraphMapEdge{
        Covariance3 covariance;
        GraphMapPatch* first, *second;
        inline operator double() const{
                return sqrt((first->center-second->center)*(first->center-second->center));
        }
};


struct GraphPatchGraph: public Graph<GraphMapPatch, Covariance3>{
        void addEdge(Vertex* v1, Vertex* v2, const Covariance3& covariance);
};

void GraphPatchGraph::addEdge(GraphPatchGraph::Vertex* v1, GraphPatchGraph::VertexVertex* v2, 
        const Covariance3& cov){
        GraphMapEdge gme;
        gme.covariance=cov;
        gme.first=v1;
        gme.second=v2;
        return Graph<GraphMapPatch, Covariance3>::addEdge(v1,v2,gme);
}

struct GraphPatchDirectoryCell: public std::set<GraphMapPatch::Vertex*> {
        GraphPatchDirectoryCell(double);
};

typedef Map<GraphPatchDirectoryCell>, Array2D::set<GraphPatchDirectoryCell> >

};

#endif