constraint_graph.h

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/*
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 */

#ifndef POSE_GRAPH_CONSTRAINT_GRAPH_H
#define POSE_GRAPH_CONSTRAINT_GRAPH_H

#include <graph_mapping_msgs/Node.h>
#include <graph_mapping_msgs/Edge.h>

#include <tf/transform_datatypes.h>

#define BOOST_NO_HASH
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/graph_traits.hpp>

namespace pose_graph
{

namespace msg=graph_mapping_msgs;
using msg::PoseWithPrecision;


/************************************************************
 * Definition of underlying boost graph
 ***********************************************************/

typedef boost::adjacency_list<boost::multisetS, boost::listS, boost::undirectedS, msg::Node, msg::Edge> Graph;
typedef boost::graph_traits<Graph>::edge_descriptor GraphEdge;
typedef boost::graph_traits<Graph>::vertex_descriptor GraphVertex;


/************************************************************
 * Other useful definitions
 ***********************************************************/

typedef std::map<unsigned, tf::Pose> NodePoseMap;
typedef std::set<unsigned> NodeSet;
typedef std::set<unsigned> EdgeSet;

/*********************************************************//*
 * Represents a graph where nodes represent poses,
 * edges represent constraints between them.  Nodes and edges
 * have (independent) ids which are unsigned integers, and
 * edges have associated constraints, which consist of a
 * relative pose (of the destination w.r.t the source), and
 * precision matrix.
 *
 * Represents the actual graph using a boost graph library
 * adjacency_list. You can use (non-modifying) algorithms from
 * the BGL on the underlying graph.  Get the graph using the
 * graph method, and convert node/edge ids to BGL descriptors
 * using idVertex and idEdge.
 ***********************************************************/
class ConstraintGraph
{
public:

  /****************************************
   * Construction
   ****************************************/

  ConstraintGraph ();

  ConstraintGraph (const ConstraintGraph& g);

  virtual ConstraintGraph& operator= (const ConstraintGraph& g);

  virtual ~ConstraintGraph ();

  /****************************************
   * Basic modification
   ****************************************/
  
  unsigned addNode ();

  void addNode (unsigned id);

  unsigned addEdge (unsigned from, unsigned t, const PoseWithPrecision& constraint);

  void addEdge (unsigned id, unsigned from, unsigned t, const PoseWithPrecision& constraint);


  /****************************************
   * Basic const ops
   ****************************************/

  NodeSet allNodes() const;

  EdgeSet allEdges() const;

  EdgeSet incidentEdges (unsigned n) const;

  std::pair<unsigned, unsigned> incidentNodes (unsigned e) const;

  const PoseWithPrecision& getConstraint (unsigned e) const;
  
  bool nodeIdExists (unsigned n) const;

  bool edgeIdExists (unsigned e) const;


  /****************************************
   * Ops on underlying graph
   ****************************************/

  const Graph& graph () const;

  GraphVertex idVertex (unsigned n) const;

  GraphEdge idEdge (unsigned e) const;

  /****************************************
   * Optimized poses
   ****************************************/

  tf::Pose getOptimizedPose (unsigned n) const;

  bool hasOptimizedPose (unsigned n) const;

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

  void setOptimizedPoses (const NodePoseMap& poses);
  
private:

  /****************************************
   * Modifying utilities
   ****************************************/

  void initializeFrom (const ConstraintGraph& other);
  
  unsigned next_node_id_;
  unsigned next_edge_id_;
  std::map<unsigned, GraphVertex> vertex_map_;
  std::map<unsigned, GraphEdge> edge_map_;
  Graph graph_;
};

} // namespace

#endif // include guard

---

pose_graph
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:37:03 2013