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mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > Class Template Reference

Detailed Description

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
class mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >

A directed graph of pose constraints, with edges being the relative poses between pairs of nodes identified by their numeric IDs (of type mrpt::utils::TNodeID).

A link or edge between two nodes "i" and "j", that is, the pose $ p_{ij} $, holds the relative position of "j" with respect to "i". These poses are stored in the edges in the format specified by the template argument CPOSE. Users should employ the following derived classes depending on the desired representation of edges:

Two main members store all the information in this class:

Graphs can be loaded and saved to text file in the format used by TORO & HoG-man (more on the format here ), using loadFromTextFile and saveToTextFile.

This class is the base for representing networks of poses, which are the main data type of a series of SLAM algorithms implemented in the library mrpt-slam, in the namespace mrpt::graphslam.

For tools to visualize graphs as 2D/3D plots, see the namespace mrpt::opengl::graph_tools in the library mrpt-opengl.

The template arguments are:

See also
mrpt::graphslam

Definition at line 75 of file CNetworkOfPoses.h.

#include <mrpt/graphs/CNetworkOfPoses.h>

Inheritance diagram for mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >:
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Collaboration diagram for mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >:
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Classes

struct  global_pose_t
 The type of each global pose in nodes: an extension of the constraint_no_pdf_t pose with any optional user-defined data. More...
 

Public Types

typedef mrpt::aligned_containers< TPairNodeIDs, edge_t >::multimap_t edges_map_t
 The type of the member edges. More...
 
typedef edges_map_t::iterator iterator
 
typedef edges_map_t::const_iterator const_iterator
 
Typedef's
typedef mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS > BASE
 The base class "CDirectedGraph<CPOSE,EDGE_ANNOTATIONS>" */. More...
 
typedef CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > self_t
 My own type. More...
 
typedef CPOSE constraint_t
 The type of PDF poses in the contraints (edges) (=CPOSE template argument) More...
 
typedef NODE_ANNOTATIONS node_annotations_t
 The extra annotations in nodes, apart from a constraint_no_pdf_t. More...
 
typedef EDGE_ANNOTATIONS edge_annotations_t
 The extra annotations in edges, apart from a constraint_t. More...
 
typedef MAPS_IMPLEMENTATION maps_implementation_t
 The type of map's implementation (=MAPS_IMPLEMENTATION template argument) More...
 
typedef CPOSE::type_value constraint_no_pdf_t
 The type of edges or their means if they are PDFs (that is, a simple "edge" value) More...
 
typedef MAPS_IMPLEMENTATION::template map< mrpt::utils::TNodeID, CPOSE > global_poses_pdf_t
 A map from pose IDs to their global coordinate estimates, with uncertainty. More...
 
typedef MAPS_IMPLEMENTATION::template map< mrpt::utils::TNodeID, global_pose_tglobal_poses_t
 A map from pose IDs to their global coordinate estimates, without uncertainty (the "most-likely value") More...
 

Public Member Functions

iterator begin ()
 
const_iterator begin () const
 
iterator end ()
 
const_iterator end () const
 
I/O file methods
void saveToTextFile (const std::string &fileName) const
 Saves to a text file in the format used by TORO & HoG-man (more on the format here ) For 2D graphs only VERTEX2 & EDGE2 entries will be saved, and VERTEX3 & EDGE3 entries for 3D graphs. More...
 
void loadFromTextFile (const std::string &fileName, bool collapse_dup_edges=true)
 Loads from a text file in the format used by TORO & HoG-man (more on the format here ) Recognized line entries are: VERTEX2, VERTEX3, EDGE2, EDGE3, EQUIV. More...
 
Utility methods
void dijkstra_nodes_estimate ()
 Spanning tree computation of a simple estimation of the global coordinates of each node just from the information in all edges, sorted in a Dijkstra tree based on the current "root" node. More...
 
size_t collapseDuplicatedEdges ()
 Look for duplicated edges (even in opposite directions) between all pairs of nodes and fuse them. More...
 
double getGlobalSquareError (bool ignoreCovariances=true) const
 Computes the overall square error from all the pose constraints (edges) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error. More...
 
double getEdgeSquareError (const typename BASE::edges_map_t::const_iterator &itEdge, bool ignoreCovariances=true) const
 Computes the square error of one pose constraints (edge) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error. More...
 
double getEdgeSquareError (const mrpt::utils::TNodeID from_id, const mrpt::utils::TNodeID to_id, bool ignoreCovariances=true) const
 Computes the square error of one pose constraints (edge) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error. More...
 
void clear ()
 Empty all edges, nodes and set root to ID 0. More...
 
size_t nodeCount () const
 Return number of nodes in the list nodes of global coordinates (may be different that all nodes appearing in edges) More...
 
Ctors & Dtors
 CNetworkOfPoses ()
 Default constructor (just sets root to "0" and edges_store_inverse_poses to "false") More...
 
 ~CNetworkOfPoses ()
 
Edges/nodes utility methods
size_t edgeCount () const
 The number of edges in the graph. More...
 
void clearEdges ()
 Erase all edges. More...
 
void insertEdge (TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)
 Insert an edge (from -> to) with the given edge value. More...
 
void insertEdgeAtEnd (TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)
 Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted std::multimap). More...
 
bool edgeExists (TNodeID from_nodeID, TNodeID to_nodeID) const
 Test is the given directed edge exists. More...
 
edge_t & getEdge (TNodeID from_nodeID, TNodeID to_nodeID)
 Return a reference to the content of a given edge. More...
 
const edge_t & getEdge (TNodeID from_nodeID, TNodeID to_nodeID) const
 Return a reference to the content of a given edge. More...
 
std::pair< iterator, iteratorgetEdges (TNodeID from_nodeID, TNodeID to_nodeID)
 Return a pair<first,last> of iterators to the range of edges between two given nodes. More...
 
std::pair< const_iterator, const_iteratorgetEdges (TNodeID from_nodeID, TNodeID to_nodeID) const
 Return a pair<first,last> of const iterators to the range of edges between two given nodes. More...
 
void eraseEdge (TNodeID from_nodeID, TNodeID to_nodeID)
 Erase all edges between the given nodes (it has no effect if no edge existed) More...
 
void getAllNodes (std::set< TNodeID > &lstNode_IDs) const
 Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges. More...
 
std::set< TNodeID > getAllNodes () const
 Less efficient way to get all nodes that returns a copy of the set object. More...
 
size_t countDifferentNodesInEdges () const
 Count how many different node IDs appear in the graph edges. More...
 
void getNeighborsOf (const TNodeID nodeID, std::set< TNodeID > &neighborIDs) const
 Return the list of all neighbors of "nodeID", by creating a list of their node IDs. More...
 
void getAdjacencyMatrix (MAP_NODEID_SET_NODEIDS &outAdjacency) const
 Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling getNeighborsOf() for each node in the graph. More...
 
void getAdjacencyMatrix (MAP_NODEID_SET_NODEIDS &outAdjacency, const SET_NODEIDS &onlyForTheseNodes) const
 Just like getAdjacencyMatrix but return only the adjacency for those node_ids in the set onlyForTheseNodes (both endings nodes of an edge must be within the set for it to be returned) More...
 
I/O utilities
bool saveAsDot (std::ostream &o, const TGraphvizExportParams &p=TGraphvizExportParams()) const
 Save the graph in a Graphviz (.dot files) text format; useful for quickly rendering the graph with "dot". More...
 
bool saveAsDot (const std::string &fileName, const TGraphvizExportParams &p=TGraphvizExportParams()) const
 

Public Attributes

edges_map_t edges
 The public member with the directed edges in the graph. More...
 
Data members
global_poses_t nodes
 The nodes (vertices) of the graph, with their estimated "global" (with respect to root) position, without an associated covariance. More...
 
mrpt::utils::TNodeID root
 The ID of the node that is the origin of coordinates, used as reference by all coordinates in nodes. More...
 
bool edges_store_inverse_poses
 False (default) if an edge i->j stores the normal relative pose of j as seen from i: $ \Delta_i^j = j \ominus i $ True if an edge i->j stores the inverse relateive pose, that is, i as seen from j: $ \Delta_i^j = i \ominus j $. More...
 

Member Typedef Documentation

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef mrpt::graphs::CDirectedGraph<CPOSE,EDGE_ANNOTATIONS> mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::BASE

The base class "CDirectedGraph<CPOSE,EDGE_ANNOTATIONS>" */.

Definition at line 80 of file CNetworkOfPoses.h.

typedef edges_map_t::const_iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::const_iterator
inherited

Definition at line 70 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef CPOSE::type_value mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::constraint_no_pdf_t

The type of edges or their means if they are PDFs (that is, a simple "edge" value)

Definition at line 88 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef CPOSE mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::constraint_t

The type of PDF poses in the contraints (edges) (=CPOSE template argument)

Definition at line 83 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef EDGE_ANNOTATIONS mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::edge_annotations_t

The extra annotations in edges, apart from a constraint_t.

Definition at line 85 of file CNetworkOfPoses.h.

typedef mrpt::aligned_containers<TPairNodeIDs,edge_t>::multimap_t mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::edges_map_t
inherited

The type of the member edges.

Definition at line 68 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef MAPS_IMPLEMENTATION::template map<mrpt::utils::TNodeID,CPOSE> mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::global_poses_pdf_t

A map from pose IDs to their global coordinate estimates, with uncertainty.

Definition at line 100 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef MAPS_IMPLEMENTATION::template map<mrpt::utils::TNodeID,global_pose_t> mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::global_poses_t

A map from pose IDs to their global coordinate estimates, without uncertainty (the "most-likely value")

Definition at line 103 of file CNetworkOfPoses.h.

typedef edges_map_t::iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::iterator
inherited

Definition at line 69 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef MAPS_IMPLEMENTATION mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::maps_implementation_t

The type of map's implementation (=MAPS_IMPLEMENTATION template argument)

Definition at line 87 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef NODE_ANNOTATIONS mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::node_annotations_t

The extra annotations in nodes, apart from a constraint_no_pdf_t.

Definition at line 84 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
typedef CNetworkOfPoses<CPOSE,MAPS_IMPLEMENTATION,NODE_ANNOTATIONS,EDGE_ANNOTATIONS> mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::self_t

My own type.

Definition at line 81 of file CNetworkOfPoses.h.

Constructor & Destructor Documentation

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::CNetworkOfPoses ( )
inline

Default constructor (just sets root to "0" and edges_store_inverse_poses to "false")

Definition at line 221 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::~CNetworkOfPoses ( )
inline

Definition at line 222 of file CNetworkOfPoses.h.

Member Function Documentation

iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::begin ( )
inlineinherited

Definition at line 79 of file CDirectedGraph.h.

const_iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::begin ( ) const
inlineinherited

Definition at line 81 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear ( void  )
inline

Empty all edges, nodes and set root to ID 0.

Definition at line 203 of file CNetworkOfPoses.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::clearEdges ( )
inlineinherited

Erase all edges.

Definition at line 88 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
size_t mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::collapseDuplicatedEdges ( )
inline

Look for duplicated edges (even in opposite directions) between all pairs of nodes and fuse them.

Upon return, only one edge remains between each pair of nodes with the mean & covariance (or information matrix) corresponding to the Bayesian fusion of all the Gaussians.

Returns
Overall number of removed edges.

Definition at line 170 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_collapse_dup_edges().

size_t mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::countDifferentNodesInEdges ( ) const
inlineinherited

Count how many different node IDs appear in the graph edges.

Definition at line 171 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate ( )
inline

Spanning tree computation of a simple estimation of the global coordinates of each node just from the information in all edges, sorted in a Dijkstra tree based on the current "root" node.

Note that "global" coordinates are with respect to the node with the ID specified in root.

Note
This method takes into account the value of edges_store_inverse_poses
See also
node, root

Definition at line 164 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_dijkstra_init().

size_t mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::edgeCount ( ) const
inlineinherited

The number of edges in the graph.

Definition at line 87 of file CDirectedGraph.h.

bool mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::edgeExists ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
) const
inlineinherited

Test is the given directed edge exists.

Definition at line 110 of file CDirectedGraph.h.

iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::end ( )
inlineinherited

Definition at line 80 of file CDirectedGraph.h.

const_iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::end ( ) const
inlineinherited

Definition at line 82 of file CDirectedGraph.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::eraseEdge ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
)
inlineinherited

Erase all edges between the given nodes (it has no effect if no edge existed)

Definition at line 150 of file CDirectedGraph.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getAdjacencyMatrix ( MAP_NODEID_SET_NODEIDS &  outAdjacency) const
inlineinherited

Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling getNeighborsOf() for each node in the graph.

Possible values for the template argument MAP_NODEID_SET_NODEIDS are:

Definition at line 203 of file CDirectedGraph.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getAdjacencyMatrix ( MAP_NODEID_SET_NODEIDS &  outAdjacency,
const SET_NODEIDS &  onlyForTheseNodes 
) const
inlineinherited

Just like getAdjacencyMatrix but return only the adjacency for those node_ids in the set onlyForTheseNodes (both endings nodes of an edge must be within the set for it to be returned)

Definition at line 216 of file CDirectedGraph.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getAllNodes ( std::set< TNodeID > &  lstNode_IDs) const
inlineinherited

Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges.

Definition at line 156 of file CDirectedGraph.h.

std::set<TNodeID> mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getAllNodes ( ) const
inlineinherited

Less efficient way to get all nodes that returns a copy of the set object.

See also
getAllNodes( std::set<TNodeID> &lstNode_IDs)

Definition at line 167 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::getAllNodes().

edge_t& mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getEdge ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
)
inlineinherited

Return a reference to the content of a given edge.

If several edges exist between the given nodes, the first one is returned.

Exceptions
std::exceptionif the given edge does not exist
See also
getEdges

Definition at line 118 of file CDirectedGraph.h.

References mrpt::format(), and THROW_EXCEPTION.

const edge_t& mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getEdge ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
) const
inlineinherited

Return a reference to the content of a given edge.

If several edges exist between the given nodes, the first one is returned.

Exceptions
std::exceptionif the given edge does not exist
See also
getEdges

Definition at line 131 of file CDirectedGraph.h.

References mrpt::format(), and THROW_EXCEPTION.

std::pair<iterator,iterator> mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getEdges ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
)
inlineinherited

Return a pair<first,last> of iterators to the range of edges between two given nodes.

See also
getEdge

Definition at line 140 of file CDirectedGraph.h.

std::pair<const_iterator,const_iterator> mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getEdges ( TNodeID  from_nodeID,
TNodeID  to_nodeID 
) const
inlineinherited

Return a pair<first,last> of const iterators to the range of edges between two given nodes.

See also
getEdge

Definition at line 144 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
double mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError ( const typename BASE::edges_map_t::const_iterator itEdge,
bool  ignoreCovariances = true 
) const
inline

Computes the square error of one pose constraints (edge) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

Exceptions
std::exceptionOn global poses not in nodes

Definition at line 189 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::graph_edge_sqerror().

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
double mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError ( const mrpt::utils::TNodeID  from_id,
const mrpt::utils::TNodeID  to_id,
bool  ignoreCovariances = true 
) const
inline

Computes the square error of one pose constraints (edge) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

Exceptions
std::exceptionOn edge not existing or global poses not in nodes

Definition at line 195 of file CNetworkOfPoses.h.

References ASSERTMSG_, end(), and mrpt::format().

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
double mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getGlobalSquareError ( bool  ignoreCovariances = true) const
inline

Computes the overall square error from all the pose constraints (edges) with respect to the global poses in nodes If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

See also
getEdgeSquareError
Exceptions
std::exceptionOn global poses not in nodes

Definition at line 177 of file CNetworkOfPoses.h.

References begin().

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::getNeighborsOf ( const TNodeID  nodeID,
std::set< TNodeID > &  neighborIDs 
) const
inlineinherited

Return the list of all neighbors of "nodeID", by creating a list of their node IDs.

See also
getAdjacencyMatrix

Definition at line 183 of file CDirectedGraph.h.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::insertEdge ( TNodeID  from_nodeID,
TNodeID  to_nodeID,
const edge_t &  edge_value 
)
inlineinherited

Insert an edge (from -> to) with the given edge value.

See also
insertEdgeAtEnd

Definition at line 92 of file CDirectedGraph.h.

References MRPT_ALIGN16.

void mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::insertEdgeAtEnd ( TNodeID  from_nodeID,
TNodeID  to_nodeID,
const edge_t &  edge_value 
)
inlineinherited

Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted std::multimap).

See also
insertEdge

Definition at line 101 of file CDirectedGraph.h.

References MRPT_ALIGN16.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::loadFromTextFile ( const std::string &  fileName,
bool  collapse_dup_edges = true 
)
inline

Loads from a text file in the format used by TORO & HoG-man (more on the format here ) Recognized line entries are: VERTEX2, VERTEX3, EDGE2, EDGE3, EQUIV.

If an unknown entry is found, a warning is dumped to std::cerr (only once for each unknown keyword). An exception will be raised if trying to load a 3D graph into a 2D class (in the opposite case, missing 3D data will default to zero).

Parameters
fileNameThe file to load.
collapse_dup_edgesIf true, collapseDuplicatedEdges will be called automatically after loading (note that this operation may take significant time for very large graphs).
See also
loadFromBinaryFile, saveToTextFile
Exceptions
Onany error, as a malformed line or loading a 3D graph in a 2D graph.

Definition at line 149 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file().

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
size_t mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodeCount ( ) const
inline

Return number of nodes in the list nodes of global coordinates (may be different that all nodes appearing in edges)

See also
mrpt::graphs::CDirectedGraph::countDifferentNodesInEdges

Definition at line 213 of file CNetworkOfPoses.h.

bool mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::saveAsDot ( std::ostream &  o,
const TGraphvizExportParams p = TGraphvizExportParams() 
) const
inlineinherited

Save the graph in a Graphviz (.dot files) text format; useful for quickly rendering the graph with "dot".

Returns
false on any error

Definition at line 237 of file CDirectedGraph.h.

References begin(), end(), and mrpt::format().

bool mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::saveAsDot ( const std::string &  fileName,
const TGraphvizExportParams p = TGraphvizExportParams() 
) const
inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 269 of file CDirectedGraph.h.

References MRPT_DECLARE_TTYPENAME.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::saveToTextFile ( const std::string &  fileName) const
inline

Saves to a text file in the format used by TORO & HoG-man (more on the format here ) For 2D graphs only VERTEX2 & EDGE2 entries will be saved, and VERTEX3 & EDGE3 entries for 3D graphs.

Note that EQUIV entries will not be saved, but instead several EDGEs will be stored between the same node IDs.

See also
saveToBinaryFile, loadFromTextFile
Exceptions
Onany error

Definition at line 136 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::save_graph_of_poses_to_text_file().

Member Data Documentation

edges_map_t mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::edges
inherited

The public member with the directed edges in the graph.

Definition at line 73 of file CDirectedGraph.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
bool mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::edges_store_inverse_poses

False (default) if an edge i->j stores the normal relative pose of j as seen from i: $ \Delta_i^j = j \ominus i $ True if an edge i->j stores the inverse relateive pose, that is, i as seen from j: $ \Delta_i^j = i \ominus j $.

Definition at line 122 of file CNetworkOfPoses.h.

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
global_poses_t mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes

The nodes (vertices) of the graph, with their estimated "global" (with respect to root) position, without an associated covariance.

See also
dijkstra_nodes_estimate

Definition at line 114 of file CNetworkOfPoses.h.

Referenced by mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file().

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::node_annotations_empty, class EDGE_ANNOTATIONS = mrpt::graphs::detail::edge_annotations_empty>
mrpt::utils::TNodeID mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root

The ID of the node that is the origin of coordinates, used as reference by all coordinates in nodes.

By default, root is the ID "0".

Definition at line 117 of file CNetworkOfPoses.h.




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