mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams

Struct for passing additional parameters to the getICPEdge call.

Handy for overriding the search to the GRAPH_T::nodes map or the search for the node's LaserScan

Definition at line 309 of file CLoopCloserERD.h.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

Public Types
typedef TGetICPEdgeAdParams	self_t

Public Member Functions
void	getAsString (std::string *str) const
std::string	getAsString () const

Public Attributes
node_props_t	from_params
	Ad. More...
node_props_t	to_params
	Ad. More...
pose_t	init_estim
	Initial ICP estimation. More...

Friends
std::ostream &	operator<< (std::ostream &o, const self_t &params)

Member Typedef Documentation

self_t

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

typedef TGetICPEdgeAdParams mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::self_t

Definition at line 310 of file CLoopCloserERD.h.

Member Function Documentation

getAsString() [1/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::getAsString ( std::string *  str ) const

inline

Definition at line 316 of file CLoopCloserERD.h.

References ASSERT_, mrpt::format(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::from_params, mrpt::graphslam::detail::TNodeProps< GRAPH_T >::getAsString(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::init_estim, and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::to_params.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge().

getAsString() [2/2]

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::getAsString ( ) const

inline

Definition at line 325 of file CLoopCloserERD.h.

Friends And Related Function Documentation

operator<<

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::ostream& operator<< ( std::ostream &  o, const self_t &  params  )

friend

Definition at line 330 of file CLoopCloserERD.h.

Member Data Documentation

from_params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

node_props_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::from_params

Ad.

params for the from_node

Definition at line 312 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::getAsString(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge().

init_estim

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

pose_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::init_estim

Initial ICP estimation.

Definition at line 314 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::getAsString(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge().

to_params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

node_props_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::to_params

Ad.

params for the to_node

Definition at line 313 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TGetICPEdgeAdParams::getAsString(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::getICPEdge().