Classes | Public Types | Public Member Functions | Public Attributes | List of all members
AISNavigation::TreePoseGraph3 Struct Reference

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...

#include <posegraph3.hh>

Inheritance diagram for AISNavigation::TreePoseGraph3:
Inheritance graph
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Classes

struct  ParameterPropagator
 A class (struct) to compute the parameterization of the vertex v. More...
 
struct  TransformationPropagator
 A class (struct) to compute the parameterization of the vertex v. More...
 

Public Types

typedef Ops::CovarianceType CovarianceMatrix
 
typedef Ops::InformationType InformationMatrix
 
typedef Operations3D< double > Ops
 
typedef Ops::PoseType Pose
 
typedef Ops::RotationType Rotation
 
typedef Ops::TransformationType Transformation
 
typedef Ops::TranslationType Translation
 
- Public Types inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
typedef Operations3D< double >::BaseType BaseType
 
typedef Operations3D< double >::CovarianceType Covariance
 
typedef EVComparator< Edge * >::CompareMode EdgeCompareMode
 
typedef std::list< Edge * > EdgeList
 
typedef std::map< Edge *, Edge * > EdgeMap
 
typedef std::multiset< Edge *, EVComparator< Edge * > > EdgeSet
 
typedef Operations3D< double >::InformationType Information
 
typedef Operations3D< double >::ParametersType Parameters
 
typedef Operations3D< double >::PoseType Pose
 
typedef Operations3D< double >::RotationType Rotation
 
typedef Operations3D< double >::TransformationType Transformation
 
typedef Operations3D< double >::TranslationType Translation
 
typedef std::map< int, Vertex * > VertexMap
 
typedef std::set< Vertex * > VertexSet
 

Public Member Functions

virtual void collapseEdge (Edge *e)
 
virtual void initializeFromParentEdge (Vertex *v)
 
void initializeOnTree ()
 
bool load (const char *filename, bool overrideCovariances=false, bool twoDimensions=false)
 
bool loadEquivalences (const char *filename)
 
void printDepth (std::ostream &os)
 
void printEdgesStat (std::ostream &os)
 
void printWidth (std::ostream &os)
 
void recomputeAllTransformations ()
 
virtual void revertEdgeInfo (Edge *e)
 
bool save (const char *filename)
 
bool saveGnuplot (const char *filename)
 
- Public Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
Edge * addEdge (Vertex *v1, Vertex *v2, const Transformation &t, const Information &i)
 
Edge * addIncrementalEdge (int id1, int id2, const Transformation &t, const Information &i)
 
Vertex * addVertex (int id, const Pose &pose)
 
EdgeSetaffectedEdges (Vertex *v)
 
EdgeSetaffectedEdges (VertexSet &vl)
 
bool buildMST (int id)
 
bool buildSimpleTree ()
 
void clear ()
 
void compressIndices ()
 
Edge * edge (int id1, int id2)
 
const Edge * edge (int id1, int id2) const
 
int maxIndex ()
 
int maxPathLength ()
 
Edge * removeEdge (Edge *eq)
 
Vertex * removeVertex (int id)
 
void revertEdge (Edge *e)
 
bool sanityCheck ()
 
EdgeSetsortEdges ()
 
int totalPathLength ()
 
void treeBreadthVisit (Action &act)
 
void treeDepthVisit (Action &act, Vertex *v)
 
 TreePoseGraph ()
 
Vertex * vertex (int id)
 
const Vertex * vertex (int id) const
 
virtual ~TreePoseGraph ()
 

Public Attributes

int verboseLevel
 
- Public Attributes inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
EdgeMap edges
 
Vertex * root
 
EdgeSetsortedEdges
 
VertexMap vertices
 

Additional Inherited Members

- Protected Member Functions inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
void fillEdgeInfo (Edge *e)
 
void fillEdgesInfo ()
 
- Protected Attributes inherited from AISNavigation::TreePoseGraph< Operations3D< double > >
EdgeCompareMode edgeCompareMode
 

Detailed Description

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.

Definition at line 61 of file posegraph3.hh.

Member Typedef Documentation

Definition at line 68 of file posegraph3.hh.

Definition at line 69 of file posegraph3.hh.

Definition at line 62 of file posegraph3.hh.

Definition at line 64 of file posegraph3.hh.

Definition at line 65 of file posegraph3.hh.

Definition at line 67 of file posegraph3.hh.

Definition at line 66 of file posegraph3.hh.

Member Function Documentation

void AISNavigation::TreePoseGraph3::collapseEdge ( Edge *  e)
virtual

Function to compress a graph. Needed if, for example, equivalence constraints are used to build a graoh structure with indices without gaps.

Definition at line 305 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::initializeFromParentEdge ( Vertex *  v)
virtual

Revert edge info. This function needs to be implemented by a subclass

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 297 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::initializeOnTree ( )

Initializes the parameters based on the topology of the tree and the actual transformation

Definition at line 275 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::load ( const char *  filename,
bool  overrideCovariances = false,
bool  twoDimensions = false 
)

Load a graph from a file ignoring the equivalence constraints

Parameters
filenamethe graph file
overrideCovariancesignore the covariances from the file, and use identities instead

Definition at line 57 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::loadEquivalences ( const char *  filename)

Load only the equivalence constraints from a graph file (call load before)

Definition at line 151 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printDepth ( std::ostream &  os)

Debug function

Definition at line 248 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printEdgesStat ( std::ostream &  os)

Debug function

Definition at line 281 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::printWidth ( std::ostream &  os)

Debug function

Definition at line 253 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::recomputeAllTransformations ( )

Recomputes all the transformations based on the parameters and the tree

Definition at line 399 of file posegraph3.cpp.

void AISNavigation::TreePoseGraph3::revertEdgeInfo ( Edge *  e)
virtual

Turn around the edge (<i,j> => <j,i>)

Implements AISNavigation::TreePoseGraph< Operations3D< double > >.

Definition at line 291 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::save ( const char *  filename)

Saves the graph in the graph-format

Definition at line 207 of file posegraph3.cpp.

bool AISNavigation::TreePoseGraph3::saveGnuplot ( const char *  filename)

Saved the graph for visualizing it using gnuplot

Definition at line 184 of file posegraph3.cpp.

Member Data Documentation

int AISNavigation::TreePoseGraph3::verboseLevel

Specifies the verbose level for debugging

Definition at line 113 of file posegraph3.hh.


The documentation for this struct was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08