graphmap.cpp
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00001 #ifndef GRAPHMAP_H
00002 #define GRAPHMAP_H
00003 #include <list>
00004 #include <utils/point.h>
00005 #include <utils/graph.h>
00006 #include <grid/map.h>
00007 
00008 namespace GMapping {
00009 
00010 class RasterMap;
00011 
00012 struct GraphMapPatch{
00013         typedef typename std::list<IntPoint> PointList; 
00015         //void render(RenderMap rmap);
00017         //Point minBoundary() const; 
00019         //Point maxBoundary() const; // 
00020 
00021         OrientedPoint center;
00022         PointList m_points;
00023 };
00024 
00025 struct Covariance3{
00026         double sxx, sxy, sxt, syy, syt ,stt;
00027 };
00028 
00029 struct GraphMapEdge{
00030         Covariance3 covariance;
00031         GraphMapPatch* first, *second;
00032         inline operator double() const{
00033                 return sqrt((first->center-second->center)*(first->center-second->center));
00034         }
00035 };
00036 
00037 
00038 struct GraphPatchGraph: public Graph<GraphMapPatch, Covariance3>{
00039         void addEdge(Vertex* v1, Vertex* v2, const Covariance3& covariance);
00040 };
00041 
00042 void GraphPatchGraph::addEdge(GraphPatchGraph::Vertex* v1, GraphPatchGraph::VertexVertex* v2, 
00043         const Covariance3& cov){
00044         GraphMapEdge gme;
00045         gme.covariance=cov;
00046         gme.first=v1;
00047         gme.second=v2;
00048         return Graph<GraphMapPatch, Covariance3>::addEdge(v1,v2,gme);
00049 }
00050 
00051 struct GraphPatchDirectoryCell: public std::set<GraphMapPatch::Vertex*> {
00052         GraphPatchDirectoryCell(double);
00053 };
00054 
00055 typedef Map<GraphPatchDirectoryCell>, Array2D::set<GraphPatchDirectoryCell> >
00056 
00057 };
00058 
00059 #endif


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Fri Aug 28 2015 11:56:21