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43 #ifndef _POSEGRAPH3_HH_
44 #define _POSEGRAPH3_HH_
53 #define M_PI 3.14159265359
76 bool load(
const char* filename,
bool overrideCovariances=
false,
bool twoDimensions=
false);
82 bool save(
const char* filename);
119 inline void perform(TreePoseGraph3::Vertex* v){
124 v->parameters=
v->parent->transformation.inv()*
v->transformation;
130 inline void perform(TreePoseGraph3::Vertex* v){
134 v->transformation=
v->parent->transformation*
v->parameters;
void perform(TreePoseGraph3::Vertex *v)
bool load(const char *filename, bool overrideCovariances=false, bool twoDimensions=false)
void printDepth(std::ostream &os)
Ops::TranslationType Translation
virtual void revertEdgeInfo(Edge *e)
bool loadEquivalences(const char *filename)
The class (struct) that contains 2D graph related functions such as loading, saving,...
A class (struct) to compute the parameterization of the vertex v.
Ops::CovarianceType CovarianceMatrix
bool save(const char *filename)
Ops::RotationType Rotation
The template class for representing an abstract tree without specifing the dimensionality of the exac...
bool saveGnuplot(const char *filename)
void printEdgesStat(std::ostream &os)
void printWidth(std::ostream &os)
virtual void collapseEdge(Edge *e)
virtual void initializeFromParentEdge(Vertex *v)
Array< double, 1, 3 > e(1./3., 0.5, 2.)
void recomputeAllTransformations()
Array< int, Dynamic, 1 > v
Operations3D< double > Ops
Ops::TransformationType Transformation
Ops::InformationType InformationMatrix
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:14