posegraph2.hh
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00001 /**********************************************************************
00002  *
00003  * This source code is part of the Tree-based Network Optimizer (TORO)
00004  *
00005  * TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, 
00006  *                         Slawomir Grzonka and  Wolfram Burgard
00007  *
00008  * TORO is licences under the Common Creative License,
00009  * Attribution-NonCommercial-ShareAlike 3.0
00010  *
00011  * You are free:
00012  *   - to Share - to copy, distribute and transmit the work
00013  *   - to Remix - to adapt the work
00014  *
00015  * Under the following conditions:
00016  *
00017  *   - Attribution. You must attribute the work in the manner specified
00018  *     by the author or licensor (but not in any way that suggests that
00019  *     they endorse you or your use of the work).
00020  *  
00021  *   - Noncommercial. You may not use this work for commercial purposes.
00022  *  
00023  *   - Share Alike. If you alter, transform, or build upon this work,
00024  *     you may distribute the resulting work only under the same or
00025  *     similar license to this one.
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00027  * Any of the above conditions can be waived if you get permission
00028  * from the copyright holder.  Nothing in this license impairs or
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00031  * TORO is distributed in the hope that it will be useful,
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00036 
00043 #ifndef _POSEGRAPH2_HH_
00044 #define _POSEGRAPH2_HH_
00045 
00046 #include "posegraph.hh"
00047 #include "transformation2.hh"
00048 #include <iostream>
00049 #include <vector>
00050 
00051 namespace AISNavigation {
00052 
00053 
00054 
00057 struct TreePoseGraph2: public TreePoseGraph< Operations2D<double> >{
00058 
00059   typedef Operations2D<double>::PoseType           Pose;
00060   typedef Operations2D<double>::RotationType       Rotation;
00061   typedef Operations2D<double>::TranslationType    Translation;
00062   typedef Operations2D<double>::TransformationType Transformation;
00063   typedef Operations2D<double>::CovarianceType     CovarianceMatrix;
00064   typedef Operations2D<double>::InformationType    InformationMatrix;
00065   
00070   bool load( const char* filename, bool overrideCovariances=false); 
00071 
00073   bool loadEquivalences( const char* filename); 
00074 
00076   bool save( const char* filename);
00077 
00079   bool saveGnuplot( const char* filename);
00080 
00082   void printDepth( std::ostream& os );
00083 
00085   void printWidth( std::ostream& os );
00086 
00088   void printEdgesStat( std::ostream& os);
00089 
00090   void initializeOnTree();
00091   
00093   virtual void revertEdgeInfo(Edge* e);
00094 
00095   virtual void initializeFromParentEdge(Vertex* v);
00096 
00100   virtual void collapseEdge(Edge* e);
00101 
00103   int verboseLevel;
00104 };
00105 
00106 }; //namespace AISNavigation
00107 #endif
00108 
00109 
00110 


rtabmap
Author(s): Mathieu Labbe
autogenerated on Fri Aug 28 2015 12:51:32