posegraph2.h

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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 _POSEGRAPH2_HH_
#define _POSEGRAPH2_HH_
 
#include <iostream>
#include <vector>
#include "posegraph.h"
#include "transformation2.h"
 
namespace AISNavigation {
 
 
 
struct TreePoseGraph2: public TreePoseGraph< Operations2D<double> >{
 
  typedef Operations2D<double>::PoseType           Pose;
  typedef Operations2D<double>::RotationType       Rotation;
  typedef Operations2D<double>::TranslationType    Translation;
  typedef Operations2D<double>::TransformationType Transformation;
  typedef Operations2D<double>::CovarianceType     CovarianceMatrix;
  typedef Operations2D<double>::InformationType    InformationMatrix;
  
  bool load( const char* filename, bool overrideCovariances=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();
  
  virtual void revertEdgeInfo(Edge* e);
 
  virtual void initializeFromParentEdge(Vertex* v);
 
  virtual void collapseEdge(Edge* e);
 
  int verboseLevel;
};
 
}; //namespace AISNavigation
#endif