pose_graph::ConstraintGraph Class Reference

#include <constraint_graph.h>

Public Member Functions
void	addEdge (unsigned id, unsigned from, unsigned t, const PoseWithPrecision &constraint)
	Add a new edge with the given id.
unsigned	addEdge (unsigned from, unsigned t, const PoseWithPrecision &constraint)
	Add a new edge and return its id.
void	addNode (unsigned id)
	Add a new node with a given id.
unsigned	addNode ()
	Add a new node, and return its id, which is > 0.
EdgeSet	allEdges () const
	Get set of edge ids.
NodeSet	allNodes () const
	Get set of node ids.
	ConstraintGraph (const ConstraintGraph &g)
	Copy constructor.
	ConstraintGraph ()
	Create empty graph.
bool	edgeIdExists (unsigned e) const
const PoseWithPrecision &	getConstraint (unsigned e) const
	Get constraint attached to this edge.
tf::Pose	getOptimizedPose (unsigned n) const
	Get optimized pose of a node, if it exists.
const Graph &	graph () const
	Return (a const reference to) the underlying Boost graph.
bool	hasOptimizedPose (unsigned n) const
GraphEdge	idEdge (unsigned e) const
	Get the edge handle given an id.
GraphVertex	idVertex (unsigned n) const
	Get the node handle given an id.
EdgeSet	incidentEdges (unsigned n) const
	Get set of edges incident to a node.
std::pair< unsigned, unsigned >	incidentNodes (unsigned e) const
	Get pair of nodes adjacent to this edge, in order (src, dest).
bool	nodeIdExists (unsigned n) const
virtual ConstraintGraph &	operator= (const ConstraintGraph &g)
	Assignment operator.
void	setOptimizedPose (unsigned n, const tf::Pose &pose)
	Set optimized pose in graph.
void	setOptimizedPoses (const NodePoseMap &poses)
	Replace the set of optimized poses currently stored in graph with new ones.
virtual	~ConstraintGraph ()
	Destructor.
Private Member Functions
void	initializeFrom (const ConstraintGraph &other)
Private Attributes
std::map< unsigned, GraphEdge >	edge_map_
Graph	graph_
unsigned	next_edge_id_
unsigned	next_node_id_
std::map< unsigned, GraphVertex >	vertex_map_

Detailed Description

Definition at line 90 of file constraint_graph.h.

Constructor & Destructor Documentation

pose_graph::ConstraintGraph::ConstraintGraph ( )

Create empty graph.

Definition at line 58 of file constraint_graph.cpp.

pose_graph::ConstraintGraph::ConstraintGraph ( const ConstraintGraph & g )

Copy constructor.

Definition at line 65 of file constraint_graph.cpp.

pose_graph::ConstraintGraph::~ConstraintGraph ( ) [virtual]

Destructor.

Definition at line 62 of file constraint_graph.cpp.

Member Function Documentation

void pose_graph::ConstraintGraph::addEdge	(	unsigned	id,
		unsigned	from,
		unsigned	t,
		const PoseWithPrecision &	constraint
	)

Add a new edge with the given id.

Exceptions:

DuplicateEdgeIdException

if already exists

Definition at line 137 of file constraint_graph.cpp.

unsigned pose_graph::ConstraintGraph::addEdge	(	unsigned	from,
		unsigned	t,
		const PoseWithPrecision &	constraint
	)

Add a new edge and return its id.

Definition at line 128 of file constraint_graph.cpp.

void pose_graph::ConstraintGraph::addNode ( unsigned id )

Add a new node with a given id.

Exceptions:

DuplicateNodeIdException

if already exists

Definition at line 119 of file constraint_graph.cpp.

unsigned pose_graph::ConstraintGraph::addNode ( )

Add a new node, and return its id, which is > 0.

Definition at line 111 of file constraint_graph.cpp.

EdgeSet pose_graph::ConstraintGraph::allEdges ( ) const

Get set of edge ids.

Definition at line 163 of file constraint_graph.cpp.

NodeSet pose_graph::ConstraintGraph::allNodes ( ) const

Get set of node ids.

Definition at line 155 of file constraint_graph.cpp.

bool pose_graph::ConstraintGraph::edgeIdExists ( unsigned e ) const

Return values:

Does

an edge with this id exist?

Definition at line 277 of file constraint_graph.cpp.

const PoseWithPrecision & pose_graph::ConstraintGraph::getConstraint ( unsigned e ) const

Get constraint attached to this edge.

Note:: Returned value may change; make a copy if necessary

Definition at line 198 of file constraint_graph.cpp.

tf::Pose pose_graph::ConstraintGraph::getOptimizedPose ( unsigned n ) const

Get optimized pose of a node, if it exists.

Exceptions:

	UnknownNodeIdException
	NoOptimizedPoseExecption

Definition at line 232 of file constraint_graph.cpp.

const Graph & pose_graph::ConstraintGraph::graph ( ) const

Return (a const reference to) the underlying Boost graph.

To get convert ids into edge/vertex handles for use with the returned object, use idVertex and idEdge

Definition at line 207 of file constraint_graph.cpp.

bool pose_graph::ConstraintGraph::hasOptimizedPose ( unsigned n ) const

Does this node have an optimized pose?

Exceptions:

UnknownIdException

Definition at line 263 of file constraint_graph.cpp.

GraphEdge pose_graph::ConstraintGraph::idEdge ( unsigned e ) const

Get the edge handle given an id.

Definition at line 212 of file constraint_graph.cpp.

GraphVertex pose_graph::ConstraintGraph::idVertex ( unsigned n ) const

Get the node handle given an id.

Exceptions:

UnknownNodeIdException

Definition at line 220 of file constraint_graph.cpp.

EdgeSet pose_graph::ConstraintGraph::incidentEdges ( unsigned n ) const

Get set of edges incident to a node.

Note:: Returned value may change; make a copy if necessary

Definition at line 172 of file constraint_graph.cpp.

IncidentNodes pose_graph::ConstraintGraph::incidentNodes ( unsigned e ) const

Get pair of nodes adjacent to this edge, in order (src, dest).

Exceptions:

UnknownEdgeIdException

Definition at line 181 of file constraint_graph.cpp.

void pose_graph::ConstraintGraph::initializeFrom ( const ConstraintGraph & other ) [private]

Clear out data associated with old graph

Definition at line 79 of file constraint_graph.cpp.

bool pose_graph::ConstraintGraph::nodeIdExists ( unsigned n ) const

Return values:

Does

a node with this id exist?

Definition at line 272 of file constraint_graph.cpp.

ConstraintGraph & pose_graph::ConstraintGraph::operator= ( const ConstraintGraph & g ) [virtual]

Assignment operator.

Definition at line 71 of file constraint_graph.cpp.

void pose_graph::ConstraintGraph::setOptimizedPose	(	unsigned	n,
		const tf::Pose &	pose
	)

Set optimized pose in graph.

Exceptions:

UnknownNodeIdException

Note:: It's the caller's responsibility to ensure that the pose being set here is consistent with all the poses already in the graph; if not, use setOptimizedPoses

Definition at line 242 of file constraint_graph.cpp.

void pose_graph::ConstraintGraph::setOptimizedPoses ( const NodePoseMap & poses )

Replace the set of optimized poses currently stored in graph with new ones.

Exceptions:

UnknownNodeIdException

Definition at line 249 of file constraint_graph.cpp.