The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...
#include <posegraph2.h>
Public Types | |
| typedef Operations2D< double >::CovarianceType | CovarianceMatrix |
| typedef Operations2D< double >::InformationType | InformationMatrix |
| typedef Operations2D< double >::PoseType | Pose |
| typedef Operations2D< double >::RotationType | Rotation |
| typedef Operations2D< double >::TransformationType | Transformation |
| typedef Operations2D< double >::TranslationType | Translation |
 Public Types inherited from AISNavigation::TreePoseGraph< Operations2D< double > > | |
| typedef Operations2D< double > ::BaseType | BaseType |
| typedef Operations2D< double > ::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 Operations2D< double > ::InformationType | Information |
| typedef Operations2D< double > ::ParametersType | Parameters |
| typedef Operations2D< double > ::PoseType | Pose |
| typedef Operations2D< double > ::RotationType | Rotation |
| typedef Operations2D< double > ::TransformationType | Transformation |
| typedef Operations2D< double > ::TranslationType | Translation |
| typedef std::map< int, Vertex * > | VertexMap |
| typedef std::set< Vertex * > | VertexSet |
Public Member Functions | |
| virtual void | collapseEdge (Edge *e) |
| virtual void | initializeFromParentEdge (Vertex *v) |
| void | initializeOnTree () |
| bool | load (const char *filename, bool overrideCovariances=false) |
| bool | loadEquivalences (const char *filename) |
| void | printDepth (std::ostream &os) |
| void | printEdgesStat (std::ostream &os) |
| void | printWidth (std::ostream &os) |
| virtual void | revertEdgeInfo (Edge *e) |
| bool | save (const char *filename) |
| bool | saveGnuplot (const char *filename) |
| Public Member Functions inherited from AISNavigation::TreePoseGraph< Operations2D< double > > | |
| 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 |
| int | maxIndex () |
| int | maxPathLength () |
| Edge * | removeEdge (Edge *eq) |
| Vertex * | removeVertex (int id) |
| void | revertEdge (Edge *e) |
| bool | sanityCheck () |
| EdgeSet * | sortEdges () |
| int | totalPathLength () |
| void | treeBreadthVisit (Action &act) |
| void | treeDepthVisit (Action &act, Vertex *v) |
| TreePoseGraph () | |
| Vertex * | vertex (int id) |
| const Vertex * | vertex (int id) const |
| virtual | ~TreePoseGraph () |
Public Attributes | |
| int | verboseLevel |
| Public Attributes inherited from AISNavigation::TreePoseGraph< Operations2D< double > > | |
| EdgeMap | edges |
| Vertex * | root |
| EdgeSet * | sortedEdges |
| VertexMap | vertices |
Additional Inherited Members | |
| Protected Member Functions inherited from AISNavigation::TreePoseGraph< Operations2D< double > > | |
| void | fillEdgeInfo (Edge *e) |
| void | fillEdgesInfo () |
| Protected Attributes inherited from AISNavigation::TreePoseGraph< Operations2D< double > > | |
| EdgeCompareMode | edgeCompareMode |
Detailed Description
The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.
Definition at line 57 of file posegraph2.h.
Member Typedef Documentation
◆ CovarianceMatrix
| typedef Operations2D<double>::CovarianceType AISNavigation::TreePoseGraph2::CovarianceMatrix |
Definition at line 63 of file posegraph2.h.
◆ InformationMatrix
| typedef Operations2D<double>::InformationType AISNavigation::TreePoseGraph2::InformationMatrix |
Definition at line 64 of file posegraph2.h.
◆ Pose
| typedef Operations2D<double>::PoseType AISNavigation::TreePoseGraph2::Pose |
Definition at line 59 of file posegraph2.h.
◆ Rotation
| typedef Operations2D<double>::RotationType AISNavigation::TreePoseGraph2::Rotation |
Definition at line 60 of file posegraph2.h.
◆ Transformation
| typedef Operations2D<double>::TransformationType AISNavigation::TreePoseGraph2::Transformation |
Definition at line 62 of file posegraph2.h.
◆ Translation
| typedef Operations2D<double>::TranslationType AISNavigation::TreePoseGraph2::Translation |
Definition at line 61 of file posegraph2.h.
Member Function Documentation
◆ collapseEdge()
|
virtual |
Function to compress a graph. Needed if, for example, equivalence constraints are used to build a graoh structure with indices without gaps.
Definition at line 302 of file posegraph2.cpp.
◆ initializeFromParentEdge()
|
virtual |
Revert edge info. This function needs to be implemented by a subclass
Implements AISNavigation::TreePoseGraph< Operations2D< double > >.
Definition at line 291 of file posegraph2.cpp.
◆ initializeOnTree()
| void AISNavigation::TreePoseGraph2::initializeOnTree | ( | ) |
Definition at line 240 of file posegraph2.cpp.
◆ load()
| bool AISNavigation::TreePoseGraph2::load | ( | const char * | filename, |
| bool | overrideCovariances = false |
||
| ) |
Load a graph from a file ignoring the equivalence constraints
- Parameters
-
filename the graph file overrideCovariances ignore the covariances from the file, and use identities instead
Definition at line 61 of file posegraph2.cpp.
◆ loadEquivalences()
| bool AISNavigation::TreePoseGraph2::loadEquivalences | ( | const char * | filename | ) |
Load only the equivalence constraints from a graph file (call load before)
Definition at line 108 of file posegraph2.cpp.
◆ printDepth()
| void AISNavigation::TreePoseGraph2::printDepth | ( | std::ostream & | os | ) |
Debug function
Definition at line 206 of file posegraph2.cpp.
◆ printEdgesStat()
| void AISNavigation::TreePoseGraph2::printEdgesStat | ( | std::ostream & | os | ) |
Debug function
Definition at line 246 of file posegraph2.cpp.
◆ printWidth()
| void AISNavigation::TreePoseGraph2::printWidth | ( | std::ostream & | os | ) |
Debug function
Definition at line 211 of file posegraph2.cpp.
◆ revertEdgeInfo()
|
virtual |
Turn around the edge (<i,j> => <j,i>)
Implements AISNavigation::TreePoseGraph< Operations2D< double > >.
Definition at line 262 of file posegraph2.cpp.
◆ save()
| bool AISNavigation::TreePoseGraph2::save | ( | const char * | filename | ) |
Saves the graph in the graph-format
Definition at line 168 of file posegraph2.cpp.
◆ saveGnuplot()
| bool AISNavigation::TreePoseGraph2::saveGnuplot | ( | const char * | filename | ) |
Saved the graph for visualizing it using gnuplot
Definition at line 150 of file posegraph2.cpp.
Member Data Documentation
◆ verboseLevel
| int AISNavigation::TreePoseGraph2::verboseLevel |
Specifies the verbose level for debugging
Definition at line 103 of file posegraph2.h.
The documentation for this struct was generated from the following files: