graph_search.h

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#ifndef POSE_GRAPH_GRAPH_SEARCH_H
#define POSE_GRAPH_GRAPH_SEARCH_H

#include <pose_graph/constraint_graph.h>
#include <graph_mapping_utils/ros.h>

namespace pose_graph
{

template <class Predicate>
NodeSet filterNearbyNodes (const ConstraintGraph& g, const unsigned n, const Predicate& p);

template <class NodePredicate, class EdgePredicate>
NodeSet filterNearbyNodes (const ConstraintGraph& g, const unsigned n, const NodePredicate& node_pred,
                           const EdgePredicate& edge_pred);



struct OptimizedDistancePredicate
{
  OptimizedDistancePredicate (const ConstraintGraph& g,
                              const btVector3& p, const double window_size) :
    g(&g.graph()), p(&p), squared_window_size(window_size * window_size) 
  {}

  OptimizedDistancePredicate () : g(NULL), p(NULL) {}

  bool operator() (const GraphVertex v) const
  {
    if ((*g)[v].optimized_pose.size()==1) {
      const geometry_msgs::Point& pt = (*g)[v].optimized_pose[0].position;
      const double dx = p->x() - pt.x;
      const double dy = p->y() - pt.y;
      const double dz = p->z() - pt.z;
      ROS_DEBUG_NAMED ("optimized_distance", "Checking optimized distance "
                       "between node %u at (%.2f, %.2f) and (%.2f, %.2f)",
                       (unsigned) (*g)[v].id, pt.x, pt.y, p->x(), p->y());
      return (dx*dx + dy*dy + dz*dz < squared_window_size);
    }
    else {
      ROS_DEBUG_NAMED ("optimized_distance",
                       "Node %u did not have an optimized pose", (*g)[v].id);
      return false;
    }
  }

  const Graph* g;
  const btVector3* p;
  double squared_window_size;
};


struct AllEdges 
{
  bool operator() (const GraphEdge&) const { return true; }
};


std::vector<NodeSet>
connectedComponents (const ConstraintGraph& g);

NodeSet componentContaining (const ConstraintGraph& g, unsigned n);


typedef std::pair<std::vector<unsigned>, std::vector<unsigned> > ShortestPath;

ShortestPath shortestPath (const ConstraintGraph& g,
                           const unsigned src, const unsigned dest);

tf::Pose relativePose (const ConstraintGraph& g,
                       const unsigned n1, const unsigned n2);



} // namespace

#include "../../src/graph_search_impl.h"

#endif // include guard

---

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