The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...

#include <posegraph3.h>

Inheritance diagram for AISNavigation::TreePoseGraph3:

Classes
struct	ParameterPropagator
	A class (struct) to compute the parameterization of the vertex v. More...

struct	TransformationPropagator
	A class (struct) to compute the parameterization of the vertex v. More...

Public Types
typedef Ops::CovarianceType	CovarianceMatrix

typedef Ops::InformationType	InformationMatrix

typedef Operations3D< double >	Ops

typedef Ops::PoseType	Pose

typedef Ops::RotationType	Rotation

typedef Ops::TransformationType	Transformation

typedef Ops::TranslationType	Translation

Public Types inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
typedef Operations3D< double > ::BaseType	BaseType

typedef Operations3D< 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 Operations3D< double > ::InformationType	Information

typedef Operations3D< double > ::ParametersType	Parameters

typedef Operations3D< double > ::PoseType	Pose

typedef Operations3D< double > ::RotationType	Rotation

typedef Operations3D< double > ::TransformationType	Transformation

typedef Operations3D< 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 twoDimensions=false)

bool	loadEquivalences (const char *filename)

void	printDepth (std::ostream &os)

void	printEdgesStat (std::ostream &os)

void	printWidth (std::ostream &os)

void	recomputeAllTransformations ()

virtual void	revertEdgeInfo (Edge *e)

bool	save (const char *filename)

bool	saveGnuplot (const char *filename)

Public Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< 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< Operations3D< double > >
EdgeMap	edges

Vertex *	root

EdgeSet *	sortedEdges

VertexMap	vertices

Additional Inherited Members
Protected Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
void	fillEdgeInfo (Edge *e)

void	fillEdgesInfo ()

Protected Attributes inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
EdgeCompareMode	edgeCompareMode

Detailed Description

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.

Definition at line 61 of file posegraph3.h.

Member Typedef Documentation

◆ CovarianceMatrix

typedef Ops::CovarianceType AISNavigation::TreePoseGraph3::CovarianceMatrix

Definition at line 68 of file posegraph3.h.

◆ InformationMatrix

typedef Ops::InformationType AISNavigation::TreePoseGraph3::InformationMatrix

Definition at line 69 of file posegraph3.h.

◆ Ops

typedef Operations3D<double> AISNavigation::TreePoseGraph3::Ops

Definition at line 62 of file posegraph3.h.

◆ Pose

typedef Ops::PoseType AISNavigation::TreePoseGraph3::Pose

Definition at line 64 of file posegraph3.h.

◆ Rotation

typedef Ops::RotationType AISNavigation::TreePoseGraph3::Rotation

Definition at line 65 of file posegraph3.h.

◆ Transformation

typedef Ops::TransformationType AISNavigation::TreePoseGraph3::Transformation

Definition at line 67 of file posegraph3.h.

◆ Translation

typedef Ops::TranslationType AISNavigation::TreePoseGraph3::Translation

Definition at line 66 of file posegraph3.h.

Member Function Documentation

◆ collapseEdge()

void AISNavigation::TreePoseGraph3::collapseEdge ( Edge * e )

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 306 of file posegraph3.cpp.

◆ initializeFromParentEdge()

void AISNavigation::TreePoseGraph3::initializeFromParentEdge ( Vertex * v )

virtual

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

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 298 of file posegraph3.cpp.

◆ initializeOnTree()

void AISNavigation::TreePoseGraph3::initializeOnTree ( )

Initializes the parameters based on the topology of the tree and the actual transformation

Definition at line 276 of file posegraph3.cpp.

◆ load()

bool AISNavigation::TreePoseGraph3::load	(	const char *	filename,
		bool	overrideCovariances = `false`,
		bool	twoDimensions = `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 58 of file posegraph3.cpp.

◆ loadEquivalences()

bool AISNavigation::TreePoseGraph3::loadEquivalences ( const char * filename )

Load only the equivalence constraints from a graph file (call load before)

Definition at line 152 of file posegraph3.cpp.

◆ printDepth()

void AISNavigation::TreePoseGraph3::printDepth ( std::ostream & os )

Debug function

Definition at line 249 of file posegraph3.cpp.

◆ printEdgesStat()

void AISNavigation::TreePoseGraph3::printEdgesStat ( std::ostream & os )

Debug function

Definition at line 282 of file posegraph3.cpp.

◆ printWidth()

void AISNavigation::TreePoseGraph3::printWidth ( std::ostream & os )

Debug function

Definition at line 254 of file posegraph3.cpp.

◆ recomputeAllTransformations()

void AISNavigation::TreePoseGraph3::recomputeAllTransformations ( )

Recomputes all the transformations based on the parameters and the tree

Definition at line 400 of file posegraph3.cpp.

◆ revertEdgeInfo()

void AISNavigation::TreePoseGraph3::revertEdgeInfo ( Edge * e )

virtual

Turn around the edge (<i,j> => <j,i>)

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 292 of file posegraph3.cpp.

◆ save()

bool AISNavigation::TreePoseGraph3::save ( const char * filename )

Saves the graph in the graph-format

Definition at line 208 of file posegraph3.cpp.

◆ saveGnuplot()

bool AISNavigation::TreePoseGraph3::saveGnuplot ( const char * filename )

Saved the graph for visualizing it using gnuplot

Definition at line 185 of file posegraph3.cpp.

Member Data Documentation

◆ verboseLevel

int AISNavigation::TreePoseGraph3::verboseLevel

Specifies the verbose level for debugging

Definition at line 113 of file posegraph3.h.

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

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CovarianceMatrix

◆ InformationMatrix

◆ Ops

◆ Pose

◆ Rotation

◆ Transformation

◆ Translation

Member Function Documentation

◆ collapseEdge()

◆ initializeFromParentEdge()

◆ initializeOnTree()

◆ load()

◆ loadEquivalences()

◆ printDepth()

◆ printEdgesStat()

◆ printWidth()

◆ recomputeAllTransformations()

◆ revertEdgeInfo()

◆ save()

◆ saveGnuplot()

Member Data Documentation

◆ verboseLevel