.. _program_listing_file__tmp_ws_src_octomap_octomap_include_octomap_ScanGraph.h:

Program Listing for File ScanGraph.h
====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_octomap_octomap_include_octomap_ScanGraph.h>` (``/tmp/ws/src/octomap/octomap/include/octomap/ScanGraph.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees
    * https://octomap.github.io/
    *
    * Copyright (c) 2009-2013, K.M. Wurm and A. Hornung, University of Freiburg
    * All rights reserved.
    * License: New BSD
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * Neither the name of the University of Freiburg nor the names of its
    *       contributors may be used to endorse or promote products derived from
    *       this software without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
    * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef OCTOMAP_SCANGRAPH_H
   #define OCTOMAP_SCANGRAPH_H
   
   
   #include <string>
   #include <math.h>
   
   #include "Pointcloud.h"
   #include "octomap_types.h"
   
   namespace octomap {
   
     class ScanGraph;
   
   
     class ScanNode {
   
      public:
   
       ScanNode (Pointcloud* _scan, pose6d _pose, unsigned int _id)
         : scan(_scan), pose(_pose), id(_id) {}
       ScanNode ()
         : scan(NULL) {}
   
       ~ScanNode();
   
       bool operator == (const ScanNode& other) const {
         return (id == other.id);
       }
   
       std::ostream& writeBinary(std::ostream &s) const;
       std::istream& readBinary(std::istream &s);
   
       std::ostream& writePoseASCII(std::ostream &s) const;
       std::istream& readPoseASCII(std::istream &s);
   
       Pointcloud* scan;
       pose6d pose; 
       unsigned int id;
   
     };
   
     class ScanEdge {
   
      public:
   
       ScanEdge(ScanNode* _first, ScanNode* _second, pose6d _constraint)
         : first(_first), second(_second), constraint(_constraint), weight(1.0) { }
       ScanEdge() {}
   
       bool operator == (const ScanEdge& other) const {
         return ( (*first == *(other.first) ) && ( *second == *(other.second) ) );
       }
   
       std::ostream& writeBinary(std::ostream &s) const;
       // a graph has to be given to recover ScanNode pointers
       std::istream& readBinary(std::istream &s, ScanGraph& graph);
   
       std::ostream& writeASCII(std::ostream &s) const;
       std::istream& readASCII(std::istream &s, ScanGraph& graph);
   
       ScanNode* first;
       ScanNode* second;
   
       pose6d constraint;
       double weight;
     };
   
   
     class ScanGraph {
   
      public:
   
       ScanGraph() {}
       ~ScanGraph();
   
       void clear();
   
       ScanNode* addNode(Pointcloud* scan, pose6d pose);
   
       ScanEdge* addEdge(ScanNode* first, ScanNode* second, pose6d constraint);
   
       ScanEdge* addEdge(unsigned int first_id, unsigned int second_id);
   
       ScanNode* getNodeByID(unsigned int id);
   
       bool edgeExists(unsigned int first_id, unsigned int second_id);
   
       void connectPrevious();
   
       std::vector<unsigned int> getNeighborIDs(unsigned int id);
       std::vector<ScanEdge*> getOutEdges(ScanNode* node);
       // warning: constraints are reversed
       std::vector<ScanEdge*> getInEdges(ScanNode* node);
   
       void exportDot(std::string filename);
   
       void transformScans();
   
       void crop(point3d lowerBound, point3d upperBound);
   
       void cropEachScan(point3d lowerBound, point3d upperBound);
   
   
       typedef std::vector<ScanNode*>::iterator iterator;
       typedef std::vector<ScanNode*>::const_iterator const_iterator;
       iterator begin() { return nodes.begin(); }
       iterator end()   { return nodes.end(); }
       const_iterator begin() const { return nodes.begin(); }
       const_iterator end() const { return nodes.end(); }
   
       size_t size() const { return nodes.size(); }
       size_t getNumPoints(unsigned int max_id = -1) const;
   
       typedef std::vector<ScanEdge*>::iterator edge_iterator;
       typedef std::vector<ScanEdge*>::const_iterator const_edge_iterator;
       edge_iterator edges_begin() { return edges.begin(); }
       edge_iterator edges_end()  { return edges.end(); }
       const_edge_iterator edges_begin() const { return edges.begin(); }
       const_edge_iterator edges_end() const  { return edges.end(); }
   
   
       std::ostream& writeBinary(std::ostream &s) const;
       std::istream& readBinary(std::ifstream &s);
       bool writeBinary(const std::string& filename) const;
       bool readBinary(const std::string& filename);
   
   
       std::ostream& writeEdgesASCII(std::ostream &s) const;
       std::istream& readEdgesASCII(std::istream &s);
   
       std::ostream& writeNodePosesASCII(std::ostream &s) const;
       std::istream& readNodePosesASCII(std::istream &s);
   
       std::istream& readPlainASCII(std::istream& s);
       void readPlainASCII(const std::string& filename);
   
      protected:
   
       std::vector<ScanNode*> nodes;
       std::vector<ScanEdge*> edges;
     };
   
   }
   
   
   #endif