The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...
#include <posegraph3.hh>
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.hh.
Member Typedef Documentation
Definition at line 68 of file posegraph3.hh.
Definition at line 69 of file posegraph3.hh.
| typedef Operations3D<double> AISNavigation::TreePoseGraph3::Ops |
Definition at line 62 of file posegraph3.hh.
Definition at line 64 of file posegraph3.hh.
Definition at line 65 of file posegraph3.hh.
Definition at line 67 of file posegraph3.hh.
Definition at line 66 of file posegraph3.hh.
Member Function Documentation
|
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 305 of file posegraph3.cpp.
|
virtual |
Revert edge info. This function needs to be implemented by a subclass
Implements AISNavigation::TreePoseGraph< Operations3D< double > >.
Definition at line 297 of file posegraph3.cpp.
| void AISNavigation::TreePoseGraph3::initializeOnTree | ( | ) |
Initializes the parameters based on the topology of the tree and the actual transformation
Definition at line 275 of file posegraph3.cpp.
| 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 57 of file posegraph3.cpp.
| bool AISNavigation::TreePoseGraph3::loadEquivalences | ( | const char * | filename | ) |
Load only the equivalence constraints from a graph file (call load before)
Definition at line 151 of file posegraph3.cpp.
| void AISNavigation::TreePoseGraph3::printDepth | ( | std::ostream & | os | ) |
Debug function
Definition at line 248 of file posegraph3.cpp.
| void AISNavigation::TreePoseGraph3::printEdgesStat | ( | std::ostream & | os | ) |
Debug function
Definition at line 281 of file posegraph3.cpp.
| void AISNavigation::TreePoseGraph3::printWidth | ( | std::ostream & | os | ) |
Debug function
Definition at line 253 of file posegraph3.cpp.
| void AISNavigation::TreePoseGraph3::recomputeAllTransformations | ( | ) |
Recomputes all the transformations based on the parameters and the tree
Definition at line 399 of file posegraph3.cpp.
|
virtual |
Turn around the edge (<i,j> => <j,i>)
Implements AISNavigation::TreePoseGraph< Operations3D< double > >.
Definition at line 291 of file posegraph3.cpp.
| bool AISNavigation::TreePoseGraph3::save | ( | const char * | filename | ) |
Saves the graph in the graph-format
Definition at line 207 of file posegraph3.cpp.
| bool AISNavigation::TreePoseGraph3::saveGnuplot | ( | const char * | filename | ) |
Saved the graph for visualizing it using gnuplot
Definition at line 184 of file posegraph3.cpp.
Member Data Documentation
| int AISNavigation::TreePoseGraph3::verboseLevel |
Specifies the verbose level for debugging
Definition at line 113 of file posegraph3.hh.
The documentation for this struct was generated from the following files: