mrpt::maps::CRandomFieldGridMap2D::ConnectivityDescriptor Struct Reference

Detailed Description

Base class for user-supplied objects capable of describing cells connectivity, used to build prior factors of the MRF graph.

See also

setCellsConnectivity()

Definition at line 242 of file maps/CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Public Member Functions
	ConnectivityDescriptor ()
virtual	~ConnectivityDescriptor ()
virtual bool	getEdgeInformation (const CRandomFieldGridMap2D *parent, size_t icx, size_t icy, size_t jcx, size_t jcy, double &out_edge_information)=0
	Implement the check of whether node i=(icx,icy) is connected with node j=(jcx,jcy). More...

Constructor & Destructor Documentation

ConnectivityDescriptor()

CRandomFieldGridMap2D::ConnectivityDescriptor::ConnectivityDescriptor

(

)

Definition at line 2353 of file CRandomFieldGridMap2D.cpp.

~ConnectivityDescriptor()

CRandomFieldGridMap2D::ConnectivityDescriptor::~ConnectivityDescriptor ( )

virtual

Definition at line 2357 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

getEdgeInformation()

virtual bool mrpt::maps::CRandomFieldGridMap2D::ConnectivityDescriptor::getEdgeInformation ( const CRandomFieldGridMap2D *  parent, size_t  icx, size_t  icy, size_t  jcx, size_t  jcy, double &  out_edge_information  )

pure virtual

Implement the check of whether node i=(icx,icy) is connected with node j=(jcx,jcy).

This visitor method will be called only for immediate neighbors.

Returns

true if connected (and the "information" value should be also updated in out_edge_information), false otherwise.

Parameters

parent	The parent map on which we are running
icy	(cx,cy) for node "i"
jcy	(cx,cy) for node "j"
out_edge_information	Must output here the inverse of the variance of the constraint edge.

Referenced by mrpt::maps::CRandomFieldGridMap2D::internal_clear().