Classes
struct	EVComparator
	A comparator class (struct) that compares the level of two vertices if edges. More...

struct	IdPrinter
	A class (struct) used to print vertex information to a stream. Needed for debugging. More...

struct	LevelAssigner
	A class (struct) to dermine the level of a vertex in the tree. More...

struct	LoopChecker

struct	NodeInfo

struct	Operations2D
	Tenmplate class to define the operations in 2D. More...

struct	Operations3D

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

struct	Pose2
	2D Point (x,y) with orientation (theta) More...

struct	Pose3

struct	PosePropagator
	A class (struct) for realizing the pose update of the individual nodes. Assumes the correct order of constraint updates (according to the tree level, see RSS07 paper) More...

struct	Quaternion

struct	SMatrix3
	A class to represent symmetric 3x3 matrices. More...

struct	Transformation2
	A class to represent 2D transformations (rotation and translation) More...

struct	Transformation3

struct	TreeOptimizer2
	Class that contains the core optimization algorithm. More...

struct	TreeOptimizer3
	Class that contains the core optimization algorithm. More...

struct	TreePoseGraph
	The template class for representing an abstract tree without specifing the dimensionality of the exact parameterization of the nodes. This definition is passed in via the Operation (Ops) template class. More...

struct	TreePoseGraph2
	The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...

struct	TreePoseGraph3
	The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc. More...

struct	Vector2
	Template class for representing a 2D point (x and y coordinate) More...

struct	Vector3

Typedefs
typedef std::vector< NodeInfo >	NodeInfoVector

typedef unsigned int	uint

Functions
template<class T >
T	innerproduct (const Quaternion< T > &left, const Quaternion< T > &right)

double	max3 (const double &a, const double &b, const double &c)

double	min3 (const double &a, const double &b, const double &c)

template<class T >
Vector2< T >	operator* (const T &d, const Vector2< T > &v)

template<class T >
Vector2< T >	operator* (const Vector2< T > &v, const T &d)

template<class T >
T	operator* (const Vector2< T > &v1, const Vector2< T > &v2)

template<class T >
Pose2< T >	operator* (const Pose2< T > &v, const T &d)

template<class T >
Quaternion< T >	operator* (const Quaternion< T > &left, const Quaternion< T > &right)

template<class T >
Quaternion< T >	operator* (const Quaternion< T > &left, const T scalar)

template<class T >
Quaternion< T >	operator* (const T scalar, const Quaternion< T > &right)

template<class T >
Vector3< T >	operator* (const Transformation3< T > &m, const Vector3< T > &v)

template<class T >
Transformation3< T >	operator* (const Transformation3< T > &m1, const Transformation3< T > &m2)

template<class T >
Vector2< T >	operator* (const Transformation2< T > &m, const Vector2< T > &v)

template<class T >
Transformation2< T >	operator* (const Transformation2< T > &m1, const Transformation2< T > &m2)

template<class T >
Pose2< T >	operator* (const SMatrix3< T > &m, const Pose2< T > &p)

template<class T >
SMatrix3< T >	operator* (const SMatrix3< T > &s, T &d)

template<class T >
SMatrix3< T >	operator* (const SMatrix3< T > &s1, const SMatrix3< T > &s2)

template<class T >
Vector2< T >	operator+ (const Vector2< T > &v1, const Vector2< T > &v2)

template<class T >
Quaternion< T >	operator+ (const Quaternion< T > &left, const Quaternion< T > &right)

template<class T >
SMatrix3< T >	operator+ (const SMatrix3< T > &s1, const SMatrix3< T > &s2)

template<class T >
Vector2< T >	operator- (const Vector2< T > &v1, const Vector2< T > &v2)

template<class T >
Quaternion< T >	operator- (const Quaternion< T > &left, const Quaternion< T > &right)

template<class T >
std::ostream &	operator<< (std::ostream &os, const Quaternion< T > &q)

template<class T >
Quaternion< T >	slerp (const Quaternion< T > &from, const Quaternion< T > &to, const T lambda)

Typedef Documentation

◆ NodeInfoVector

typedef std::vector<NodeInfo> AISNavigation::NodeInfoVector

Definition at line 77 of file treeoptimizer3_iteration.cpp.

◆ uint

typedef unsigned int AISNavigation::uint

Definition at line 53 of file posegraph2.cpp.

Function Documentation

◆ innerproduct()

template<class T >

T AISNavigation::innerproduct	(	const Quaternion< T > &	left,
		const Quaternion< T > &	right
	)

inline

◆ max3()

double AISNavigation::max3	(	const double &	a,
		const double &	b,
		const double &	c
	)

inline

Definition at line 48 of file treeoptimizer3_iteration.cpp.

◆ min3()

double AISNavigation::min3	(	const double &	a,
		const double &	b,
		const double &	c
	)

inline

Definition at line 52 of file treeoptimizer3_iteration.cpp.

◆ operator*() [1/14]

template<class T >

Vector2<T> AISNavigation::operator*	(	const T &	d,
		const Vector2< T > &	v
	)

inline

Operator for scalar multiplication.

Definition at line 81 of file transformation2.hh.

◆ operator*() [2/14]

template<class T >

Vector2<T> AISNavigation::operator*	(	const Vector2< T > &	v,
		const T &	d
	)

inline

Operator for scalar multiplication.

Definition at line 87 of file transformation2.hh.

◆ operator*() [3/14]

template<class T >

T AISNavigation::operator*	(	const Vector2< T > &	v1,
		const Vector2< T > &	v2
	)

inline

Operator for dot product.

Definition at line 93 of file transformation2.hh.

◆ operator*() [4/14]

template<class T >

Pose2<T> AISNavigation::operator*	(	const Pose2< T > &	v,
		const T &	d
	)

Operator for scalar multiplication with a pose

Definition at line 150 of file transformation2.hh.

◆ operator*() [5/14]

template<class T >

Quaternion<T> AISNavigation::operator*	(	const Quaternion< T > &	left,
		const Quaternion< T > &	right
	)

inline

◆ operator*() [6/14]

template<class T >

Quaternion<T> AISNavigation::operator*	(	const Quaternion< T > &	left,
		const T	scalar
	)

inline

◆ operator*() [7/14]

template<class T >

Quaternion<T> AISNavigation::operator*	(	const T	scalar,
		const Quaternion< T > &	right
	)

inline

◆ operator*() [8/14]

template<class T >

Vector3<T> AISNavigation::operator*	(	const Transformation3< T > &	m,
		const Vector3< T > &	v
	)

inline

◆ operator*() [9/14]

template<class T >

Transformation3<T> AISNavigation::operator*	(	const Transformation3< T > &	m1,
		const Transformation3< T > &	m2
	)

inline

◆ operator*() [10/14]

template<class T >

Vector2<T> AISNavigation::operator*	(	const Transformation2< T > &	m,
		const Vector2< T > &	v
	)

Operator for transforming a Vector2

Definition at line 261 of file transformation2.hh.

◆ operator*() [11/14]

template<class T >

Transformation2<T> AISNavigation::operator*	(	const Transformation2< T > &	m1,
		const Transformation2< T > &	m2
	)

Operator for concatenating two transformations

Definition at line 273 of file transformation2.hh.

◆ operator*() [12/14]

template<class T >

Pose2<T> AISNavigation::operator*	(	const SMatrix3< T > &	m,
		const Pose2< T > &	p
	)

Operator for symmetric matrix-pose multiplication

Definition at line 303 of file transformation2.hh.

◆ operator*() [13/14]

template<class T >

SMatrix3<T> AISNavigation::operator*	(	const SMatrix3< T > &	s,
		T &	d
	)

Operator for symmetric matrix-scalar multiplication

Definition at line 315 of file transformation2.hh.

◆ operator*() [14/14]

template<class T >

SMatrix3<T> AISNavigation::operator*	(	const SMatrix3< T > &	s1,
		const SMatrix3< T > &	s2
	)

Operator forsymmetric matrix-symmetric matrix multiplication

Definition at line 325 of file transformation2.hh.

◆ operator+() [1/3]

template<class T >

Vector2<T> AISNavigation::operator+	(	const Vector2< T > &	v1,
		const Vector2< T > &	v2
	)

inline

Operator for vector addition.

Definition at line 100 of file transformation2.hh.

◆ operator+() [2/3]

template<class T >

Quaternion<T> AISNavigation::operator+	(	const Quaternion< T > &	left,
		const Quaternion< T > &	right
	)

inline

◆ operator+() [3/3]

template<class T >

SMatrix3<T> AISNavigation::operator+	(	const SMatrix3< T > &	s1,
		const SMatrix3< T > &	s2
	)

Operator for symmetric matrix-symmetric matrix addition

Definition at line 339 of file transformation2.hh.

◆ operator-() [1/2]

template<class T >

Vector2<T> AISNavigation::operator-	(	const Vector2< T > &	v1,
		const Vector2< T > &	v2
	)

Operator for vector subtraction.

Definition at line 107 of file transformation2.hh.

◆ operator-() [2/2]

template<class T >

Quaternion<T> AISNavigation::operator-	(	const Quaternion< T > &	left,
		const Quaternion< T > &	right
	)

inline

◆ operator<<()

template<class T >

std::ostream& AISNavigation::operator<<	(	std::ostream &	os,
		const Quaternion< T > &	q
	)

◆ slerp()

template<class T >

Quaternion<T> AISNavigation::slerp	(	const Quaternion< T > &	from,
		const Quaternion< T > &	to,
		const T	lambda
	)

inline

Classes

Typedefs

Functions

Typedef Documentation

◆ NodeInfoVector

◆ uint

Function Documentation

◆ innerproduct()

◆ max3()

◆ min3()

◆ operator*() [1/14]

◆ operator*() [2/14]

◆ operator*() [3/14]

◆ operator*() [4/14]

◆ operator*() [5/14]

◆ operator*() [6/14]

◆ operator*() [7/14]

◆ operator*() [8/14]

◆ operator*() [9/14]

◆ operator*() [10/14]

◆ operator*() [11/14]

◆ operator*() [12/14]

◆ operator*() [13/14]

◆ operator*() [14/14]

◆ operator+() [1/3]

◆ operator+() [2/3]

◆ operator+() [3/3]

◆ operator-() [1/2]

◆ operator-() [2/2]

◆ operator<<()

◆ slerp()