Template Struct graphslam_traits

• Defined in File types.h

Nested Relationships

Nested Types

• Struct graphslam_traits::observation_info_t

Struct Documentation

template<class GRAPH_T>
struct graphslam_traits

Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names

Template Parameters:

GRAPH_T – This will typically be any mrpt::graphs::CNetworkOfPoses<…>

Public Types

using graph_t = GRAPH_T

Typ: mrpt::graphs::CNetworkOfPoses<…>

using edge_const_iterator = typename graph_t::edges_map_t::const_iterator

using edge_map_entry_t = typename graph_t::edges_map_t::value_type

using edge_t = typename graph_t::constraint_t

using edge_poses_type = typename edge_t::type_value

using SE_TYPE = mrpt::poses::Lie::SE<edge_poses_type::rotation_dimensions>

using matrix_TxT = typename SE_TYPE::matrix_TxT

using Array_O = typename SE_TYPE::tangent_vector

using TPairJacobs = std::pair<matrix_TxT, matrix_TxT>

using map_pairIDs_pairJacobs_t = std::multimap<mrpt::graphs::TPairNodeIDs, TPairJacobs>

using TFunctorFeedback = std::function<void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)>

struct observation_info_t

Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account.

Public Types

using gst = graphslam_traits<GRAPH_T>

Public Members

const gst::edge_map_entry_t *edge = {nullptr}

const gst::graph_t::constraint_t::type_value *edge_mean

gst::graph_t::constraint_t::type_value *P1

gst::graph_t::constraint_t::type_value *P2