mrpt::graphs::detail::graph_ops< graph_t > Struct Template Reference

---

Detailed Description

template<class graph_t>
struct mrpt::graphs::detail::graph_ops< graph_t >

a helper struct with static template functions

See also:

CNetworkOfPoses

Definition at line 65 of file CNetworkOfPoses_impl.h.

#include <mrpt/graphs/CNetworkOfPoses_impl.h>

List of all members.

Static Public Member Functions
static void	write_VERTEX_line (const TNodeID id, const CPose2D &p, std::ofstream &f)
static void	write_VERTEX_line (const TNodeID id, const CPose3D &p, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussianInf &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussianInf &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussian &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussian &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose2D &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3D &edge, std::ofstream &f)
static void	save_graph_of_poses_from_text_file (const graph_t *g, const std::string &fil)
static void	load_graph_of_poses_from_text_file (graph_t *g, const std::string &fil)
static size_t	graph_of_poses_collapse_dup_edges (graph_t *g)
static void	graph_of_poses_dijkstra_init (graph_t *g)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPosePDFGaussianInf &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPose3DPDFGaussianInf &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPosePDFGaussian &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPose3DPDFGaussian &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPose2D &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPose3D &p)
static double	auxEuclid2Dist (const CPose2D &p1, const CPose2D &p2)
static double	auxEuclid2Dist (const CPose3D &p1, const CPose3D &p2)
static double	graph_edge_sqerror (const graph_t *g, const typename mrpt::graphs::CDirectedGraph< typename graph_t::constraint_t >::edges_map_t::const_iterator &itEdge, bool ignoreCovariances)

---

Member Function Documentation

template<class graph_t >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist	(	const CPose2D &	p1,
		const CPose2D &	p2
	)		[inline, static]

Definition at line 536 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose2D::phi(), mrpt::utils::square(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

template<class graph_t >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxEuclid2Dist	(	const CPose3D &	p1,
		const CPose3D &	p2
	)		[inline, static]

Definition at line 542 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::utils::square(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPose3DPDFGaussian &	p
	)		[inline, static]

Definition at line 515 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussian::cov, multiply_HCHt_scalar(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::wrapToPiInPlace().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPose2D &	p
	)		[inline, static]

Definition at line 524 of file CNetworkOfPoses_impl.h.

References mrpt::utils::square(), and mrpt::math::wrapToPiInPlace().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPose3D &	p
	)		[inline, static]

Definition at line 528 of file CNetworkOfPoses_impl.h.

References mrpt::utils::square(), and mrpt::math::wrapToPiInPlace().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPosePDFGaussianInf &	p
	)		[inline, static]

Definition at line 499 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::cov_inv, multiply_HCHt_scalar(), and mrpt::math::wrapToPiInPlace().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPose3DPDFGaussianInf &	p
	)		[inline, static]

Definition at line 503 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::cov_inv, multiply_HCHt_scalar(), and mrpt::math::wrapToPiInPlace().

template<class graph_t >

template<class VEC >

static double mrpt::graphs::detail::graph_ops< graph_t >::auxMaha2Dist	(	VEC &	err,
		const CPosePDFGaussian &	p
	)		[inline, static]

Definition at line 509 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussian::cov, multiply_HCHt_scalar(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::wrapToPiInPlace().

template<class graph_t >

static double mrpt::graphs::detail::graph_ops< graph_t >::graph_edge_sqerror	(	const graph_t *	g,
		const typename mrpt::graphs::CDirectedGraph< typename graph_t::constraint_t >::edges_map_t::const_iterator &	itEdge,
		bool	ignoreCovariances
	)		[inline, static]

Definition at line 557 of file CNetworkOfPoses_impl.h.

References ASSERTMSG_, mrpt::format(), MRPT_END, MRPT_START, static_size, and mrpt::poses::UNINITIALIZED_POSE.

template<class graph_t >

static size_t mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_collapse_dup_edges

(

graph_t *

g

)

[inline, static]

Definition at line 404 of file CNetworkOfPoses_impl.h.

References MRPT_END, and MRPT_START.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_dijkstra_init

(

graph_t *

g

)

[inline, static]

Definition at line 446 of file CNetworkOfPoses_impl.h.

References MRPT_END, and MRPT_START.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file	(	graph_t *	g,
		const std::string &	fil
	)		[inline, static]

Definition at line 159 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3D, mrpt::format(), mrpt::utils::CTextFileLinesParser::getCurrentLineNumber(), mrpt::utils::CTextFileLinesParser::getNextLine(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::utils::CTextFileLinesParser::rewind(), mrpt::system::strCmpI(), and THROW_EXCEPTION.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::save_graph_of_poses_from_text_file	(	const graph_t *	g,
		const std::string &	fil
	)		[inline, static]

Definition at line 135 of file CNetworkOfPoses_impl.h.

References THROW_EXCEPTION_CUSTOM_MSG1.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3D &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 123 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::cov_inv, and mrpt::poses::CPose3DPDFGaussianInf::mean.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPosePDFGaussianInf &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 80 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::cov_inv, mrpt::poses::CPosePDFGaussianInf::mean, mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose2D &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 116 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::cov_inv, and mrpt::poses::CPosePDFGaussianInf::mean.

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPosePDFGaussian &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 104 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::copyFrom().

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3DPDFGaussianInf &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 89 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3DPDFGaussian &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 110 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::copyFrom().

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line	(	const TNodeID	id,
		const CPose3D &	p,
		std::ofstream &	f
	)		[inline, static]

Definition at line 72 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line	(	const TNodeID	id,
		const CPose2D &	p,
		std::ofstream &	f
	)		[inline, static]

Definition at line 67 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose2D::phi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().