The template class for representing an abstract tree without specifing the dimensionality of the exact parameterization of the nodes. This definition is passed in via the Operation (Ops) template class. More...

#include <posegraph.h>

Classes
struct	Edge
	Definition of an edge in the graph based on the template input from Ops. More...

struct	Vertex
	Definition of a vertex in the graph based on the template input from Ops. More...

Public Types
typedef Ops::BaseType	BaseType

typedef Ops::CovarianceType	Covariance

typedef EVComparator< Edge * >::CompareMode	EdgeCompareMode

typedef std::list< Edge * >	EdgeList

typedef std::map< Edge , Edge >	EdgeMap

typedef std::multiset< Edge , EVComparator< Edge > >	EdgeSet

typedef Ops::InformationType	Information

typedef Ops::ParametersType	Parameters

typedef Ops::PoseType	Pose

typedef Ops::RotationType	Rotation

typedef Ops::TransformationType	Transformation

typedef Ops::TranslationType	Translation

typedef std::map< int, Vertex * >	VertexMap

typedef std::set< Vertex * >	VertexSet

Public Member Functions
Edge *	addEdge (Vertex v1, Vertex v2, const Transformation &t, const Information &i)

Edge *	addIncrementalEdge (int id1, int id2, const Transformation &t, const Information &i)

Vertex *	addVertex (int id, const Pose &pose)

EdgeSet *	affectedEdges (Vertex *v)

EdgeSet *	affectedEdges (VertexSet &vl)

bool	buildMST (int id)

bool	buildSimpleTree ()

void	clear ()

void	compressIndices ()

Edge *	edge (int id1, int id2)

const Edge *	edge (int id1, int id2) const

virtual void	initializeFromParentEdge (Vertex *v)=0

int	maxIndex ()

int	maxPathLength ()

Edge *	removeEdge (Edge *eq)

Vertex *	removeVertex (int id)

void	revertEdge (Edge *e)

virtual void	revertEdgeInfo (Edge *e)=0

bool	sanityCheck ()

EdgeSet *	sortEdges ()

int	totalPathLength ()

template<class Action >
void	treeBreadthVisit (Action &act)

template<class Action >
void	treeDepthVisit (Action &act, Vertex *v)

	TreePoseGraph ()

Vertex *	vertex (int id)

const Vertex *	vertex (int id) const

virtual	~TreePoseGraph ()

Public Attributes
EdgeMap	edges

Vertex *	root

EdgeSet *	sortedEdges

VertexMap	vertices

Protected Member Functions
void	fillEdgeInfo (Edge *e)

void	fillEdgesInfo ()

Protected Attributes
EdgeCompareMode	edgeCompareMode

Detailed Description

template<class Ops>
struct AISNavigation::TreePoseGraph< Ops >

The template class for representing an abstract tree without specifing the dimensionality of the exact parameterization of the nodes. This definition is passed in via the Operation (Ops) template class.

Definition at line 91 of file posegraph.h.

Member Typedef Documentation

◆ BaseType

template<class Ops >

typedef Ops::BaseType AISNavigation::TreePoseGraph< Ops >::BaseType

Definition at line 92 of file posegraph.h.

◆ Covariance

template<class Ops >

typedef Ops::CovarianceType AISNavigation::TreePoseGraph< Ops >::Covariance

Definition at line 97 of file posegraph.h.

◆ EdgeCompareMode

template<class Ops >

typedef EVComparator<Edge*>::CompareMode AISNavigation::TreePoseGraph< Ops >::EdgeCompareMode

Definition at line 118 of file posegraph.h.

◆ EdgeList

template<class Ops >

typedef std::list< Edge* > AISNavigation::TreePoseGraph< Ops >::EdgeList

Definition at line 119 of file posegraph.h.

◆ EdgeMap

template<class Ops >

typedef std::map< Edge*, Edge* > AISNavigation::TreePoseGraph< Ops >::EdgeMap

Definition at line 122 of file posegraph.h.

◆ EdgeSet

template<class Ops >

typedef std::multiset< Edge*, EVComparator<Edge*> > AISNavigation::TreePoseGraph< Ops >::EdgeSet

Definition at line 123 of file posegraph.h.

◆ Information

template<class Ops >

typedef Ops::InformationType AISNavigation::TreePoseGraph< Ops >::Information

Definition at line 98 of file posegraph.h.

◆ Parameters

template<class Ops >

typedef Ops::ParametersType AISNavigation::TreePoseGraph< Ops >::Parameters

Definition at line 99 of file posegraph.h.

◆ Pose

template<class Ops >

typedef Ops::PoseType AISNavigation::TreePoseGraph< Ops >::Pose

Definition at line 93 of file posegraph.h.

◆ Rotation

template<class Ops >

typedef Ops::RotationType AISNavigation::TreePoseGraph< Ops >::Rotation

Definition at line 94 of file posegraph.h.

◆ Transformation

template<class Ops >

typedef Ops::TransformationType AISNavigation::TreePoseGraph< Ops >::Transformation

Definition at line 96 of file posegraph.h.

◆ Translation

template<class Ops >

typedef Ops::TranslationType AISNavigation::TreePoseGraph< Ops >::Translation

Definition at line 95 of file posegraph.h.

◆ VertexMap

template<class Ops >

typedef std::map< int, Vertex* > AISNavigation::TreePoseGraph< Ops >::VertexMap

Definition at line 120 of file posegraph.h.

◆ VertexSet

template<class Ops >

typedef std::set< Vertex* > AISNavigation::TreePoseGraph< Ops >::VertexSet

Definition at line 121 of file posegraph.h.

Constructor & Destructor Documentation

◆ TreePoseGraph()

template<class Ops >

AISNavigation::TreePoseGraph< Ops >::TreePoseGraph ( )

inline

constructor

Definition at line 220 of file posegraph.h.

◆ ~TreePoseGraph()

template<class Ops >

virtual AISNavigation::TreePoseGraph< Ops >::~TreePoseGraph ( )

virtual

Destructor

Member Function Documentation

◆ addEdge()

template<class Ops >

Edge* AISNavigation::TreePoseGraph< Ops >::addEdge	(	Vertex *	v1,
		Vertex *	v2,
		const Transformation &	t,
		const Information &	i
	)

Add an edge/constraint to the graph

◆ addIncrementalEdge()

template<class Ops >

Edge* AISNavigation::TreePoseGraph< Ops >::addIncrementalEdge	(	int	id1,
		int	id2,
		const Transformation &	t,
		const Information &	i
	)

Adds en edge incrementally to the tree. It builds a simple tree and initializes the structures for the optimization.

This function is for online processing. It requires that at least one vertex is already present in the graph. The vertices are represented by their ids.

Once the edge is introduced in the structure:

the parent of the node with the higher ID is computed.
the top node is assigned
the edge is inserted in the

Returns: A pointer to the added edge, if the insertion was succesfull. 0 otherwise.

◆ addVertex()

template<class Ops >

Vertex* AISNavigation::TreePoseGraph< Ops >::addVertex	(	int	id,
		const Pose &	pose
	)

Add a vertex to the graph

◆ affectedEdges() [1/2]

template<class Ops >

EdgeSet* AISNavigation::TreePoseGraph< Ops >::affectedEdges ( Vertex * v )

Returns a set of edges which are accected by the mofification of the vertex v. The set is ordered according to the level of their top node.

◆ affectedEdges() [2/2]

template<class Ops >

EdgeSet* AISNavigation::TreePoseGraph< Ops >::affectedEdges ( VertexSet & vl )

◆ buildMST()

template<class Ops >

bool AISNavigation::TreePoseGraph< Ops >::buildMST ( int id )

Constructs the tree be computing a minimal spanning tree

◆ buildSimpleTree()

template<class Ops >

bool AISNavigation::TreePoseGraph< Ops >::buildSimpleTree ( )

Constructs the incremental tree according to the input trajectory

◆ clear()

template<class Ops >

void AISNavigation::TreePoseGraph< Ops >::clear ( )

Delete all edges and vertices

◆ compressIndices()

template<class Ops >

void AISNavigation::TreePoseGraph< Ops >::compressIndices ( )

remove gaps in the indices of the vertex ids

◆ edge() [1/2]

template<class Ops >

Edge* AISNavigation::TreePoseGraph< Ops >::edge	(	int	id1,
		int	id2
	)

Returns the edge between the two vertices

◆ edge() [2/2]

template<class Ops >

const Edge* AISNavigation::TreePoseGraph< Ops >::edge	(	int	id1,
		int	id2
	)		const

Returns a const pointer tothe edge between the two vertices

◆ fillEdgeInfo()

template<class Ops >

void AISNavigation::TreePoseGraph< Ops >::fillEdgeInfo ( Edge * e )

protected

◆ fillEdgesInfo()

template<class Ops >

void AISNavigation::TreePoseGraph< Ops >::fillEdgesInfo ( )

protected

◆ initializeFromParentEdge()

template<class Ops >

virtual void AISNavigation::TreePoseGraph< Ops >::initializeFromParentEdge ( Vertex * v )

pure virtual

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

Implemented in AISNavigation::TreePoseGraph3, and AISNavigation::TreePoseGraph2.

◆ maxIndex()

template<class Ops >

int AISNavigation::TreePoseGraph< Ops >::maxIndex ( )

compute the highest index of an vertex

◆ maxPathLength()

template<class Ops >

int AISNavigation::TreePoseGraph< Ops >::maxPathLength ( )

Determines the length of the longest path in the tree

◆ removeEdge()

template<class Ops >

Edge* AISNavigation::TreePoseGraph< Ops >::removeEdge ( Edge * eq )

Remove an edge/constraint from the graph

◆ removeVertex()

template<class Ops >

Vertex* AISNavigation::TreePoseGraph< Ops >::removeVertex ( int id )

Remove a vertex from the graph

◆ revertEdge()

template<class Ops >

void AISNavigation::TreePoseGraph< Ops >::revertEdge ( Edge * e )

Trun around an edge (used to ensure a certain oder on the vertexes)

◆ revertEdgeInfo()

template<class Ops >

virtual void AISNavigation::TreePoseGraph< Ops >::revertEdgeInfo ( Edge * e )

pure virtual

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

Implemented in AISNavigation::TreePoseGraph3, and AISNavigation::TreePoseGraph2.

◆ sanityCheck()

template<class Ops >

bool AISNavigation::TreePoseGraph< Ops >::sanityCheck ( )

performs a consistency check on the tree and the graph structure.

Returns: false on failure.

◆ sortEdges()

template<class Ops >

EdgeSet* AISNavigation::TreePoseGraph< Ops >::sortEdges ( )

Sort constraints for correct processing order

◆ totalPathLength()

template<class Ops >

int AISNavigation::TreePoseGraph< Ops >::totalPathLength ( )

Determines the path length of all pathes in the tree

◆ treeBreadthVisit()

template<class Ops >

template<class Action >

void AISNavigation::TreePoseGraph< Ops >::treeBreadthVisit ( Action & act )

Function to perform a breadth-first visit of the nodes in the tree to carry out a specific action act

◆ treeDepthVisit()

template<class Ops >

template<class Action >

void AISNavigation::TreePoseGraph< Ops >::treeDepthVisit	(	Action &	act,
		Vertex *	v
	)

Function to perform a depth-first visit of the nodes in the tree to carry out a specific action act

◆ vertex() [1/2]

template<class Ops >

Vertex* AISNavigation::TreePoseGraph< Ops >::vertex ( int id )

Returns the vertex with the given id

◆ vertex() [2/2]

template<class Ops >

const Vertex* AISNavigation::TreePoseGraph< Ops >::vertex ( int id ) const

Returns a const pointer to the vertex with the given id

Member Data Documentation

◆ edgeCompareMode

template<class Ops >

EdgeCompareMode AISNavigation::TreePoseGraph< Ops >::edgeCompareMode

protected

Definition at line 265 of file posegraph.h.

◆ edges

template<class Ops >

EdgeMap AISNavigation::TreePoseGraph< Ops >::edges

All edges

Definition at line 254 of file posegraph.h.

◆ root

template<class Ops >

Vertex* AISNavigation::TreePoseGraph< Ops >::root

The root node of the tree

Definition at line 248 of file posegraph.h.

◆ sortedEdges

template<class Ops >

EdgeSet* AISNavigation::TreePoseGraph< Ops >::sortedEdges

The constraints/edges sorted according to the level in the tree in order to allow us the efficient update (pose computation) of the nodes in the tree (see the RSS07 paper for further details)

Definition at line 260 of file posegraph.h.

◆ vertices

template<class Ops >

VertexMap AISNavigation::TreePoseGraph< Ops >::vertices

All vertices

Definition at line 251 of file posegraph.h.

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

posegraph.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<class Ops> struct AISNavigation::TreePoseGraph< Ops >

Member Typedef Documentation

◆ BaseType

◆ Covariance

◆ EdgeCompareMode

◆ EdgeList

◆ EdgeMap

◆ EdgeSet

◆ Information

◆ Parameters

◆ Pose

◆ Rotation

◆ Transformation

◆ Translation

◆ VertexMap

◆ VertexSet

Constructor & Destructor Documentation

◆ TreePoseGraph()

◆ ~TreePoseGraph()

Member Function Documentation

◆ addEdge()

◆ addIncrementalEdge()

◆ addVertex()

◆ affectedEdges() [1/2]

◆ affectedEdges() [2/2]

◆ buildMST()

◆ buildSimpleTree()

◆ clear()

◆ compressIndices()

◆ edge() [1/2]

◆ edge() [2/2]

◆ fillEdgeInfo()

◆ fillEdgesInfo()

◆ initializeFromParentEdge()

◆ maxIndex()

◆ maxPathLength()

◆ removeEdge()

◆ removeVertex()

◆ revertEdge()

◆ revertEdgeInfo()

◆ sanityCheck()

◆ sortEdges()

◆ totalPathLength()

◆ treeBreadthVisit()

◆ treeDepthVisit()

◆ vertex() [1/2]

◆ vertex() [2/2]

Member Data Documentation

◆ edgeCompareMode

◆ edges

◆ root

◆ sortedEdges

◆ vertices

template<class Ops>
struct AISNavigation::TreePoseGraph< Ops >