slam::Graph Class Reference

#include <graph.h>

List of all members.

Classes
struct	Params
Public Member Functions
void	addEdge (int i, int j, tf::Transform edge)
	Add new edge to the graph.
int	addVertice (tf::Transform pose_corrected)
	Add new vertice into the graph.
int	addVertice (tf::Transform pose, tf::Transform pose_corrected, double timestamp)
	Add new vertice into the graph.
void	findClosestNodes (int discart_first_n, int best_n, vector< int > &neighbors)
	Get the best neighbors by distance.
void	getLastPoses (tf::Transform current_odom, tf::Transform &last_graph_pose, tf::Transform &last_graph_odom)
	Get last poses of the graph.
	Graph ()
	Class constructor. Reads node parameters and initialize some properties.
Params	params () const
bool	saveGraphToFile ()
	Save the optimized graph into a file with the same format than odometry_msgs.
void	setParams (const Params &params)
void	setVerticeEstimate (int vertice_id, tf::Transform pose)
	Updates som vertice estimate.
void	update ()
	Update the graph.
Protected Member Functions
bool	init ()
	Init the graph.
Private Attributes
g2o::SparseOptimizer	graph_optimizer_
	> Vector to save the odometry history
vector< pair< tf::Transform, double > >	odom_history_
Params	params_
	> G2O graph optimizer

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Detailed Description

Definition at line 29 of file graph.h.

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Constructor & Destructor Documentation

slam::Graph::Graph

(

)

Class constructor. Reads node parameters and initialize some properties.

Returns:

Definition at line 7 of file graph.cpp.

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Member Function Documentation

void slam::Graph::addEdge	(	int	i,
		int	j,
		tf::Transform	edge
	)

Add new edge to the graph.

Returns:

Parameters:

Id	vertice 1.
Id	vertice 2.
Edge	transform that joins both vertices.

Definition at line 197 of file graph.cpp.

int slam::Graph::addVertice

(

tf::Transform

pose

)

Add new vertice into the graph.

Returns:

Parameters:

Last	corrected odometry pose.
Current	read odometry.
Timestamp	for the current odometry.

Definition at line 134 of file graph.cpp.

int slam::Graph::addVertice	(	tf::Transform	pose,
		tf::Transform	pose_corrected,
		double	timestamp
	)

Add new vertice into the graph.

Returns:

Parameters:

Last	estimated pose.
last	corrected pose.
Timestamp	for the current odometry.

Definition at line 180 of file graph.cpp.

void slam::Graph::findClosestNodes	(	int	discart_first_n,
		int	best_n,
		vector< int > &	neighbors
	)

Get the best neighbors by distance.

Returns:

Parameters:

Number	of previous candidates to be discarted
Number	of neighbors to be retrieved.
Will	contain the list of best neighbors by distance.

Definition at line 81 of file graph.cpp.

void slam::Graph::getLastPoses	(	tf::Transform	current_odom,
		tf::Transform &	last_graph_pose,
		tf::Transform &	last_graph_odom
	)

Get last poses of the graph.

Returns:

Parameters:

Current	odometry pose used in the case of graph is empty.
Contains	the last graph pose.
Contains	the last odometry pose.

Definition at line 51 of file graph.cpp.

bool slam::Graph::init

(

)

[protected]

Init the graph.

Returns:

Definition at line 15 of file graph.cpp.

Params slam::Graph::params

(

)

const [inline]

Returns:

current parameters

Definition at line 67 of file graph.h.

bool slam::Graph::saveGraphToFile

(

)

Save the optimized graph into a file with the same format than odometry_msgs.

Returns:

Definition at line 236 of file graph.cpp.

void slam::Graph::setParams

(

const Params &

params

)

[inline]

Parameters:

params

new parameters

Definition at line 58 of file graph.h.

void slam::Graph::setVerticeEstimate	(	int	vertice_id,
		tf::Transform	pose
	)

Updates som vertice estimate.

Returns:

Parameters:

Id	vertice.
New	estimate

Definition at line 219 of file graph.cpp.

void slam::Graph::update

(

)

Update the graph.

Definition at line 226 of file graph.cpp.

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Member Data Documentation

g2o::SparseOptimizer slam::Graph::graph_optimizer_ [private]

> Vector to save the odometry history

Definition at line 109 of file graph.h.

vector< pair<tf::Transform,double> > slam::Graph::odom_history_ [private]

Definition at line 105 of file graph.h.

Params slam::Graph::params_ [private]

> G2O graph optimizer

Definition at line 112 of file graph.h.

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

• graph.h
• graph.cpp