AISNavigation Namespace Reference
[Graph, libmath]

Classes
struct	ActivePathUniformCostFunction
struct	CholOptimizer
struct	CovariancePropagator
struct	Dijkstra
struct	Gradient
struct	Gradient< PoseGraph2D >
struct	Gradient< PoseGraph3D >
struct	Graph
class	GraphOptimizer
	base for all optimizers More...
struct	HCholOptimizer
struct	LoadedEdge
struct	LoadedEdge3D
struct	LoadedEdgeComparator
struct	LoadedEdgeComparator3D
struct	LocalGradient
struct	LocalGradient< PoseGraph2D >
struct	LocalGradient< PoseGraph3D >
struct	ManifoldGradient
struct	ManifoldGradient< PoseGraph2D >
struct	ManifoldGradient< PoseGraph3D >
struct	MotionJacobian
struct	MotionJacobian< PoseGraph< Transformation2, Matrix3 > >
struct	MotionJacobian< PoseGraph< Transformation3, Matrix6 > >
struct	PoseGraph
struct	PoseGraph2D
struct	PoseGraph3D
class	PoseGraph3DVis
	visualization of a pose graph (using a pointer to the graph) More...
struct	PosePropagator
struct	PoseUpdate
struct	PoseUpdate< PoseGraph2D >
struct	PoseUpdate< PoseGraph3D >
class	QGLGraphViewer
struct	SparseMatrixEntry
struct	SparseMatrixEntryPtrCmp
class	StandardCamera
struct	TaylorTerms
struct	TaylorTerms< PoseGraph2D >
struct	TaylorTerms< PoseGraph3D >
struct	TransformCovariance
struct	TransformCovariance< PoseGraph2D >
struct	TransformCovariance< PoseGraph3D >
struct	UniformCostFunction
Typedefs
typedef CholOptimizer < PoseGraph2D >	CholOptimizer2D
	the 2D cholesky optimizer
typedef CholOptimizer < PoseGraph3D >	CholOptimizer3D
	the 2D cholesky optimizer
typedef GraphOptimizer < PoseGraph3D >	GraphOptimizer3D
typedef HCholOptimizer < PoseGraph2D >	HCholOptimizer2D
	2D hirachical cholesky optimizer
typedef HCholOptimizer < PoseGraph3D >	HCholOptimizer3D
	3D hirachical cholesky optimizer
typedef std::set< LoadedEdge, LoadedEdgeComparator >	LoadedEdgeSet
typedef std::set< LoadedEdge3D, LoadedEdgeComparator3D >	LoadedEdgeSet3D
typedef GraphOptimizer < PoseGraph2D >	Optimizer2D
Functions
std::string	changeFileExtension (const std::string &filename, const std::string &newExt, bool stripDot=false)
void	connectedSubset (Graph::VertexSet &connected, Graph::VertexSet &visited, Graph::VertexSet &startingSet, Graph *g, Graph::Vertex *v, Dijkstra::CostFunction *cost, double distance, double comparisonConditioner)
bool	createDirectory (const char *dirName, bool pub=false)
csn *	cs_chol_workspace (const cs *A, const css *S, int *cin, double *xin)
int	cs_cholsolinvblocksymb (const cs *A, double **block, int r1, int c1, int r2, int c2, double *y, const css *S, double *x, double *b, double *temp, int *work)
int	cs_cholsolsymb (const cs *A, double *b, const css *S, double *workspace, int *work)
void	eulerGradientXi (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void	eulerGradientXj (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
bool	fileExists (const char *filename)
std::string	getBasename (const std::string &filename)
std::string	getCurrentDateAsFilename ()
std::vector< std::string >	getDirectoryElements (const char *dir, bool onlyFiles=false)
std::string	getDirname (const std::string &filename)
std::string	getFileExtension (const std::string &filename)
std::vector< std::string >	getFilesByPattern (const char *pattern)
off_t	getFileSize (const char *filename)
time_t	getLastAccessDate (const char *filename)
time_t	getLastModificationDate (const char *filename)
time_t	getLastStatusChangeDate (const char *filename)
std::string	getPureFilename (const std::string &filename)
bool	isDirectory (const char *filename)
bool	isRegularFile (const char *filename)
bool	isSymbolicLink (const char *filename)
void	loadEdges (LoadedEdgeSet &edges, istream &is, bool overrideCovariances)
void	loadEdges (LoadedEdgeSet &edges, std::istream &is, bool overrideCovariances=false)
void	loadEdges3D (LoadedEdgeSet3D &edges, std::istream &is, bool overrideCovariances=false)
void	manifold2euler (Matrix6 &mat, double manifold[6])
void	manifoldGradientXi (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void	manifoldGradientXj (Matrix6 &mat, const Vector6 &e, const Vector6 &xi, const Vector6 &xj)
void	manifoldZero2euler (Matrix6 &mat, double manifold[6])
void	motionJacobianMeasurement (Matrix6 &mat, const Vector6 &xi, const Vector6 &e)
void	motionJacobianState (Matrix6 &mat, const Vector6 &xi, const Vector6 &e)
bool	operator< (const Dijkstra::AdjacencyMapEntry &a, const Dijkstra::AdjacencyMapEntry &b)
void	propagateJacobianManifold (Matrix6 &mat, const Vector6 &xi, const Vector6 &xj)
cs_sparse *	SparseMatrixEntryPtrVector2CSparse (SparseMatrixEntry **entries, int r, int c, int nz)
cs_sparse *	SparseMatrixEntryVector2CSparse (SparseMatrixEntry *entries, int r, int c, int nz)

---

Typedef Documentation

typedef CholOptimizer< PoseGraph2D > AISNavigation::CholOptimizer2D

the 2D cholesky optimizer

Definition at line 28 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer2d_chol.h.

typedef CholOptimizer< PoseGraph3D > AISNavigation::CholOptimizer3D

the 2D cholesky optimizer

Definition at line 28 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_chol.h.

typedef GraphOptimizer< PoseGraph3D > AISNavigation::GraphOptimizer3D

Definition at line 24 of file include/hogman_minimal/graph_optimizer/graph_optimizer3d.h.

typedef HCholOptimizer< PoseGraph2D > AISNavigation::HCholOptimizer2D

2D hirachical cholesky optimizer

Definition at line 26 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer2d_hchol.h.

typedef HCholOptimizer< PoseGraph3D > AISNavigation::HCholOptimizer3D

3D hirachical cholesky optimizer

Definition at line 29 of file include/hogman_minimal/graph_optimizer_hogman/graph_optimizer3d_hchol.h.

typedef std::set< LoadedEdge, LoadedEdgeComparator > AISNavigation::LoadedEdgeSet

Definition at line 51 of file include/hogman_minimal/graph_optimizer/graph_optimizer2d_aux.h.

typedef std::set< LoadedEdge3D, LoadedEdgeComparator3D > AISNavigation::LoadedEdgeSet3D

Definition at line 55 of file include/hogman_minimal/graph/loadEdges3d.h.

typedef GraphOptimizer< PoseGraph2D > AISNavigation::Optimizer2D

Definition at line 23 of file include/hogman_minimal/graph_optimizer/graph_optimizer2d.h.

---

Function Documentation

std::string AISNavigation::changeFileExtension	(	const std::string &	filename,
		const std::string &	newExt,
		bool	stripDot = false
	)

change the fileextension of a given filename. Only if filename contains an extension, otherwise filename is returned.

Definition at line 63 of file filesys_tools.cpp.

void AISNavigation::connectedSubset	(	Graph::VertexSet &	connected,
		Graph::VertexSet &	visited,
		Graph::VertexSet &	startingSet,
		Graph *	g,
		Graph::Vertex *	v,
		Dijkstra::CostFunction *	cost,
		double	distance,
		double	comparisonConditioner
	)

Definition at line 162 of file dijkstra.cpp.

bool AISNavigation::createDirectory	(	const char *	dirName,
		bool	pub = false
	)

create a directory. if pub is true, then the rights of the dir will be rwxrwxrwx (readable and writable for everyone)

csn * AISNavigation::cs_chol_workspace	(	const cs *	A,
		const css *	S,
		int *	cin,
		double *	xin
	)

Definition at line 91 of file csparse_helper.cpp.

int AISNavigation::cs_cholsolinvblocksymb	(	const cs *	A,
		double **	block,
		int	r1,
		int	c1,
		int	r2,
		int	c2,
		double *	y,
		const css *	S,
		double *	x,
		double *	b,
		double *	temp,
		int *	work
	)

Definition at line 47 of file csparse_helper.cpp.

int AISNavigation::cs_cholsolsymb	(	const cs *	A,
		double *	b,
		const css *	S,
		double *	workspace,
		int *	work
	)

Definition at line 20 of file csparse_helper.cpp.

void AISNavigation::eulerGradientXi	(	Matrix6 &	mat,
		const Vector6 &	e,
		const Vector6 &	xi,
		const Vector6 &	xj
	)			[inline]

Definition at line 446 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::eulerGradientXj	(	Matrix6 &	mat,
		const Vector6 &	e,
		const Vector6 &	xi,
		const Vector6 &	xj
	)			[inline]

Definition at line 584 of file src/graph/posegraph3d_gradient.h.

bool AISNavigation::fileExists

(

const char *

filename

)

check if file exists (note a directory is also a file)

Definition at line 75 of file filesys_tools.cpp.

std::string AISNavigation::getBasename

(

const std::string &

filename

)

return the basename of the given filename /etc/fstab -> fstab

Definition at line 45 of file filesys_tools.cpp.

std::string AISNavigation::getCurrentDateAsFilename

(

)

return the current date as a filename of the form YYYYMMDD_hhmmss

Definition at line 103 of file filesys_tools.cpp.

std::vector< std::string > AISNavigation::getDirectoryElements	(	const char *	dir,
		bool	onlyFiles = false
	)

return all filenames in the given directory, may also be a sub directory if, onlyFiles is true, only files are returned

Definition at line 181 of file filesys_tools.cpp.

std::string AISNavigation::getDirname

(

const std::string &

filename

)

return the directory of a given filename /etc/fstab -> /etc

Definition at line 54 of file filesys_tools.cpp.

std::string AISNavigation::getFileExtension

(

const std::string &

filename

)

get filename extension (the part after the last .), e.g. the extension of file.txt is txt

Definition at line 27 of file filesys_tools.cpp.

std::vector< std::string > AISNavigation::getFilesByPattern

(

const char *

pattern

)

return all files that match a given pattern, e.g., ~/blaa*.txt, /tmp/a*

Definition at line 207 of file filesys_tools.cpp.

off_t AISNavigation::getFileSize

(

const char *

filename

)

return the size of the file in bytes.

Returns:

the size of the file (type is off_t -> if large file support, then 64 bit). -1 on error.

Definition at line 171 of file filesys_tools.cpp.

time_t AISNavigation::getLastAccessDate

(

const char *

filename

)

return date of last access to a file

Definition at line 123 of file filesys_tools.cpp.

time_t AISNavigation::getLastModificationDate

(

const char *

filename

)

return the modification date of a file

Definition at line 113 of file filesys_tools.cpp.

time_t AISNavigation::getLastStatusChangeDate

(

const char *

filename

)

return date of last status change of a file

Definition at line 133 of file filesys_tools.cpp.

std::string AISNavigation::getPureFilename

(

const std::string &

filename

)

get the filename without the extension. file.txt -> file

Definition at line 36 of file filesys_tools.cpp.

bool AISNavigation::isDirectory

(

const char *

filename

)

is the given filename a valid direcory, e.g. exists

Definition at line 87 of file filesys_tools.cpp.

bool AISNavigation::isRegularFile

(

const char *

filename

)

checks if file exists and is a file

Definition at line 81 of file filesys_tools.cpp.

bool AISNavigation::isSymbolicLink

(

const char *

filename

)

is the given file a symbolic link

Definition at line 93 of file filesys_tools.cpp.

void AISNavigation::loadEdges	(	LoadedEdgeSet &	edges,
		istream &	is,
		bool	overrideCovariances
	)

Definition at line 25 of file graph_optimizer2d_aux.cpp.

void AISNavigation::loadEdges	(	LoadedEdgeSet &	edges,
		std::istream &	is,
		bool	overrideCovariances = false
	)

void AISNavigation::loadEdges3D	(	LoadedEdgeSet3D &	edges,
		std::istream &	is,
		bool	overrideCovariances = false
	)

Definition at line 25 of file loadEdges3d.cpp.

void AISNavigation::manifold2euler	(	Matrix6 &	mat,
		double	manifold[6]
	)			[inline]

Definition at line 278 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldGradientXi	(	Matrix6 &	mat,
		const Vector6 &	e,
		const Vector6 &	xi,
		const Vector6 &	xj
	)			[inline]

Definition at line 25 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldGradientXj	(	Matrix6 &	mat,
		const Vector6 &	e,
		const Vector6 &	xi,
		const Vector6 &	xj
	)			[inline]

Definition at line 158 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::manifoldZero2euler	(	Matrix6 &	mat,
		double	manifold[6]
	)			[inline]

Definition at line 385 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::motionJacobianMeasurement	(	Matrix6 &	mat,
		const Vector6 &	xi,
		const Vector6 &	e
	)			[inline]

Definition at line 876 of file src/graph/posegraph3d_gradient.h.

void AISNavigation::motionJacobianState	(	Matrix6 &	mat,
		const Vector6 &	xi,
		const Vector6 &	e
	)			[inline]

Definition at line 791 of file src/graph/posegraph3d_gradient.h.

bool AISNavigation::operator<	(	const Dijkstra::AdjacencyMapEntry &	a,
		const Dijkstra::AdjacencyMapEntry &	b
	)

Definition at line 53 of file dijkstra.cpp.

void AISNavigation::propagateJacobianManifold	(	Matrix6 &	mat,
		const Vector6 &	xi,
		const Vector6 &	xj
	)			[inline]

Definition at line 703 of file src/graph/posegraph3d_gradient.h.

cs_sparse * AISNavigation::SparseMatrixEntryPtrVector2CSparse	(	SparseMatrixEntry **	entries,
		int	r,
		int	c,
		int	nz
	)			[inline]

convert to csparse matrix, hoewever, we assume that the pointer are already sorted using the SparseMatrixEntryPtrCmp defined above

Definition at line 85 of file src/graph_optimizer_hogman/csparse_helper.h.

cs_sparse * AISNavigation::SparseMatrixEntryVector2CSparse	(	SparseMatrixEntry *	entries,
		int	r,
		int	c,
		int	nz
	)			[inline]

Definition at line 54 of file src/graph_optimizer_hogman/csparse_helper.h.