Detailed Description

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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:

mrpt::graphs::CNetworkOfPoses2D : 2D edges as a simple CPose2D (x y phi)
mrpt::graphs::CNetworkOfPoses3D : 3D edges as a simple mrpt::poses::CPose3D (x y z yaw pitch roll)
mrpt::graphs::CNetworkOfPoses2DInf : 2D edges as a Gaussian PDF with information matrix (CPosePDFGaussianInf)
mrpt::graphs::CNetworkOfPoses3DInf : 3D edges as a Gaussian PDF with information matrix (CPose3DPDFGaussianInf)
mrpt::graphs::CNetworkOfPoses2DCov : 2D edges as a Gaussian PDF with covariance matrix (CPosePDFGaussian). It's more efficient to use the information matrix version instead!
mrpt::graphs::CNetworkOfPoses3DCov : 3D edges as a Gaussian PDF with covariance matrix (CPose3DPDFGaussian). It's more efficient to use the information matrix version instead!

Two main members store all the information in this class:

edges (in the base class mrpt::graphs::CDirectedGraph::edges): A map from pairs of node ID -> pose constraints.
nodes : A map from node ID -> estimated pose of that node (actually, read below on the template argument MAPS_IMPLEMENTATION).

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.

The template arguments are:

CPOSE: The type of the edges, which hold a relative pose (2D/3D, just a value or a Gaussian, etc.)
MAPS_IMPLEMENTATION: Can be either mrpt::utils::map_traits_stdmap or mrpt::utils::map_traits_map_as_vector. Determines the type of the list of global poses (member nodes).

See also: mrpt::graphslam

Definition at line 104 of file CNetworkOfPoses.h.

#include <mrpt/graphs/CNetworkOfPoses.h>

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

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 CPOSE	edge_underlying_t

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::reverse_iterator	reverse_iterator

typedef edges_map_t::const_iterator	const_iterator

typedef edges_map_t::const_reverse_iterator	const_reverse_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_t >	global_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	rbegin ()

const_iterator	rbegin () const

iterator	end ()

const_iterator	end () const

iterator	rend ()

const_iterator	rend () const

I/O methods
void	saveToTextFile (const std::string &fileName) const
	Saves to a text file in the format used by TORO, HoG-man, G2O. More...

void	writeAsText (std::ostream &o) const
	Writes as text in the format used by TORO, HoG-man, G2O. 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...

void	readAsText (std::istream &i)
	Reads as text in the format used by TORO, HoG-man, G2O. More...

Ctors & Dtors
	CNetworkOfPoses ()
	Default constructor (just sets root to "0" and edges_store_inverse_poses to "false") More...

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 if 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, iterator >	getEdges (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_iterator >	getEdges (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...

std::set< TNodeID >	getNeighborsOf (const TNodeID nodeID) 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...

Static Private Member Functions
static void	addVirtualEdge (self_t *graph, const TNodeID &from, const TNodeID &to)
	Add a virtual edge between two nodes in the given graph. More...

Utility methods
void	getAs3DObject (mrpt::opengl::CSetOfObjectsPtr object, const mrpt::utils::TParametersDouble &viz_params) const
	Return 3D Visual Representation of the edges and nodes in the network of poses. More...

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	chi2 () const
	Returns the total chi-squared error of the graph. 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...

void	extractSubGraph (const std::set< TNodeID > &node_IDs, self_t *sub_graph, const TNodeID root_node_in=INVALID_NODEID, const bool &auto_expand_set=true) const
	Find the edges between the nodes in the node_IDs set and fill given graph pointer accordingly. More...

void	mergeGraph (const self_t &other, const typename std::vector< detail::THypothesis< self_t > > &common_hypots, const bool hypots_from_other_to_self=true, std::map< TNodeID, TNodeID > *old_to_new_nodeID_mappings_out=NULL)
	Integrate given graph into own graph using the list of provided common THypotheses. 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...

static void	connectGraphPartitions (self_t *sub_graph, const std::set< TNodeID > &groupA, const std::set< TNodeID > &groupB)
	Add an edge between the last node of the group with the lower nodeIDs and the first node of the higher nodeIDs. More...

Member Typedef Documentation

◆ BASE

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 109 of file CNetworkOfPoses.h.

◆ const_iterator

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

inherited

Definition at line 71 of file CDirectedGraph.h.

◆ const_reverse_iterator

typedef edges_map_t::const_reverse_iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::const_reverse_iterator

inherited

Definition at line 72 of file CDirectedGraph.h.

◆ constraint_no_pdf_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 117 of file CNetworkOfPoses.h.

◆ constraint_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 112 of file CNetworkOfPoses.h.

◆ edge_annotations_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 114 of file CNetworkOfPoses.h.

◆ edge_underlying_t

typedef CPOSE mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::edge_underlying_t

inherited

Definition at line 66 of file CDirectedGraph.h.

◆ edges_map_t

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.

◆ global_poses_pdf_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 159 of file CNetworkOfPoses.h.

◆ global_poses_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 162 of file CNetworkOfPoses.h.

◆ iterator

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

inherited

Definition at line 69 of file CDirectedGraph.h.

◆ maps_implementation_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 116 of file CNetworkOfPoses.h.

◆ node_annotations_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 113 of file CNetworkOfPoses.h.

◆ reverse_iterator

typedef edges_map_t::reverse_iterator mrpt::graphs::CDirectedGraph< CPOSE , EDGE_ANNOTATIONS >::reverse_iterator

inherited

Definition at line 70 of file CDirectedGraph.h.

◆ self_t

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 110 of file CNetworkOfPoses.h.

Constructor & Destructor Documentation

◆ CNetworkOfPoses()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 814 of file CNetworkOfPoses.h.

Member Function Documentation

◆ addVirtualEdge()

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

static void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::addVirtualEdge	(	self_t *	graph,
		const TNodeID &	from,
		const TNodeID &	to
	)

inlinestaticprivate

Add a virtual edge between two nodes in the given graph.

Edge is called virtual as its value will be determined solely on the pose difference of the given nodeIDs

Definition at line 827 of file CNetworkOfPoses.h.

References ASSERTMSG_, mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::insertEdge(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::connectGraphPartitions(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().

◆ begin() [1/2]

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

inlineinherited

Definition at line 83 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getGlobalSquareError().

◆ begin() [2/2]

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

inlineinherited

Definition at line 87 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ chi2()

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

double mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::chi2 ( ) const

inline

Returns the total chi-squared error of the graph.

Shortcut for getGlobalSquareError(false).

Definition at line 310 of file CNetworkOfPoses.h.

References mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getGlobalSquareError().

◆ clear()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear ( )

inline

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

Definition at line 793 of file CNetworkOfPoses.h.

References mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edges, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::edges_store_inverse_poses, mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::root.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().

◆ clearEdges()

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

inlineinherited

Erase all edges.

Definition at line 96 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ collapseDuplicatedEdges()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 306 of file CNetworkOfPoses.h.

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

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::loadFromTextFile().

◆ connectGraphPartitions()

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

static void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::connectGraphPartitions	(	self_t *	sub_graph,
		const std::set< TNodeID > &	groupA,
		const std::set< TNodeID > &	groupB
	)

inlinestatic

Add an edge between the last node of the group with the lower nodeIDs and the first node of the higher nodeIDs.

Given groups of nodes should only contain consecutive nodeIDs and there should be no overlapping between them

Note: It is assumed that the sets of nodes are already in ascending order (default std::set behavior.

Definition at line 729 of file CNetworkOfPoses.h.

References mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::addVirtualEdge(), and ASSERTMSG_.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().

◆ countDifferentNodesInEdges()

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 180 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ dijkstra_nodes_estimate()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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: The "global" coordinates are with respect to the node with the ID specified in root.; This method takes into account the value of edges_store_inverse_poses

See also: node, root

Definition at line 297 of file CNetworkOfPoses.h.

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

Referenced by mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph().

◆ edgeCount()

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

inlineinherited

The number of edges in the graph.

Definition at line 95 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ edgeExists()

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

inlineinherited

Test if the given directed edge exists.

Definition at line 118 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ end() [1/2]

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

inlineinherited

Definition at line 85 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError().

◆ end() [2/2]

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

inlineinherited

Definition at line 89 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ eraseEdge()

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 159 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ extractSubGraph()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph	(	const std::set< TNodeID > &	node_IDs,
		self_t *	sub_graph,
		const TNodeID	root_node_in = `INVALID_NODEID`,
		const bool &	auto_expand_set = `true`
	)		const

inline

Find the edges between the nodes in the node_IDs set and fill given graph pointer accordingly.

Parameters

[in]	node_IDs	Set of nodes, between which, edges should be found and inserted in the given sub_graph pointer
[in]	root_node_in	Node ID to be used as the root node of sub_graph. If this is not given, the lowest nodeID is to be used.
[out]	CNetworkOfPoses	pointer that is to be filled.
[in]	auto_expand_set	If true and in case the node_IDs set contains non-consecutive nodes the returned set is expanded with the in-between nodes. This makes sure that the final graph is always connected. If auto_expand_set is false but there exist non-consecutive nodes, virtual edges are inserted in the parts that the graph is not connected

Definition at line 342 of file CNetworkOfPoses.h.

◆ getAdjacencyMatrix() [1/2]

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:

std::map<TNodeID, std::set<TNodeID> >
mrpt::utils::map_as_vector<TNodeID, std::set<TNodeID> >
See also
getNeighborsOf

Definition at line 218 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getAdjacencyMatrix() [2/2]

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 231 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getAllNodes() [1/2]

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 165 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getAllNodes() [2/2]

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 176 of file CDirectedGraph.h.

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

◆ getAs3DObject()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getAs3DObject	(	mrpt::opengl::CSetOfObjectsPtr	object,
		const mrpt::utils::TParametersDouble &	viz_params
	)		const

inline

Return 3D Visual Representation of the edges and nodes in the network of poses.

Method makes the call to the corresponding method of the CVisualizer class instance.

Definition at line 259 of file CNetworkOfPoses.h.

◆ getEdge() [1/2]

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::exception if the given edge does not exist

See also: getEdges

Definition at line 127 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges, mrpt::format(), and THROW_EXCEPTION.

◆ getEdge() [2/2]

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::exception if the given edge does not exist

See also: getEdges

Definition at line 140 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges, mrpt::format(), and THROW_EXCEPTION.

◆ getEdges() [1/2]

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 149 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getEdges() [2/2]

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 153 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getEdgeSquareError() [1/2]

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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::exception On global poses not in nodes

Definition at line 767 of file CNetworkOfPoses.h.

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

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError().

◆ getEdgeSquareError() [2/2]

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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::exception On edge not existing or global poses not in nodes

Definition at line 785 of file CNetworkOfPoses.h.

References ASSERTMSG_, mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edges, mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::end(), mrpt::format(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError().

◆ getGlobalSquareError()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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::exception On global poses not in nodes

Definition at line 317 of file CNetworkOfPoses.h.

References mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::begin(), and mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::edges.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::chi2().

◆ getNeighborsOf() [1/2]

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 192 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ getNeighborsOf() [2/2]

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

inlineinherited

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

See also: getAdjacencyMatrix

Definition at line 204 of file CDirectedGraph.h.

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

◆ insertEdge()

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 100 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges, and MRPT_ALIGN16.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph().

◆ insertEdgeAtEnd()

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 109 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges, and MRPT_ALIGN16.

◆ loadFromTextFile()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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

[in]	fileName	The file to load.
[in]	collapse_dup_edges	If 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

On	any error, as a malformed line or loading a 3D graph in a 2D graph.

Definition at line 231 of file CNetworkOfPoses.h.

References mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::collapseDuplicatedEdges(), and mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_file().

◆ mergeGraph()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph	(	const self_t &	other,
		const typename std::vector< detail::THypothesis< self_t > > &	common_hypots,
		const bool	hypots_from_other_to_self = `true`,
		std::map< TNodeID, TNodeID > *	old_to_new_nodeID_mappings_out = `NULL`
	)

inline

Integrate given graph into own graph using the list of provided common THypotheses.

Nodes of the other graph are renumbered upon integration in own graph.

Parameters

[in]	other	Graph (of the same type) that is to be integrated with own graph.
[in]	Hypotheses	that join own and other graph.
[in]	hypots_from_other_to_self	Specify the direction of the THypothesis objects in the common_hypots. If true (default) they are directed from other to own graph (other own),
[out]	old_to_new_nodeID_mappings_out	Map from the old nodeIDs that are in the given graph to the new nodeIDs that have been inserted (by this method) in own graph.

Definition at line 600 of file CNetworkOfPoses.h.

References ASSERT_, ASSERTMSG_, mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::begin(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::dijkstra_nodes_estimate(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::end(), mrpt::format(), mrpt::graphs::CDirectedGraph< CPOSE, EDGE_ANNOTATIONS >::insertEdge(), MRPT_END, MRPT_START, and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes.

◆ nodeCount()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 805 of file CNetworkOfPoses.h.

References mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes.

◆ rbegin() [1/2]

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

inlineinherited

Definition at line 84 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ rbegin() [2/2]

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

inlineinherited

Definition at line 88 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ readAsText()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::readAsText ( std::istream & i )

inline

Reads as text in the format used by TORO, HoG-man, G2O.

See: https://www.mrpt.org/Graph-SLAM_maps

See also: saveToBinaryFile, loadFromTextFile, saveToTextFile

Exceptions

On any error

Definition at line 244 of file CNetworkOfPoses.h.

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

◆ rend() [1/2]

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

inlineinherited

Definition at line 86 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ rend() [2/2]

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

inlineinherited

Definition at line 90 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::edges.

◆ saveAsDot() [1/2]

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 252 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::begin(), mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >::end(), and mrpt::mrpt::format().

◆ saveAsDot() [2/2]

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 284 of file CDirectedGraph.h.

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

◆ saveToTextFile()

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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, G2O.

See: https://www.mrpt.org/Graph-SLAM_maps

See also: saveToBinaryFile, loadFromTextFile, writeAsText

Exceptions

On any error

Definition at line 198 of file CNetworkOfPoses.h.

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

◆ writeAsText()

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

void mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::writeAsText ( std::ostream & o ) const

inline

Writes as text in the format used by TORO, HoG-man, G2O.

See: https://www.mrpt.org/Graph-SLAM_maps

See also: saveToBinaryFile, loadFromTextFile, saveToTextFile, readAsText

Exceptions

On any error

Definition at line 208 of file CNetworkOfPoses.h.

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

Member Data Documentation

◆ edges

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

inherited

The public member with the directed edges in the graph.

Definition at line 77 of file CDirectedGraph.h.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getEdgeSquareError(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::getGlobalSquareError().

◆ edges_store_inverse_poses

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 185 of file CNetworkOfPoses.h.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear().

◆ nodes

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 173 of file CNetworkOfPoses.h.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::addVirtualEdge(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawEdges(), mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, TMRSlamNodeAnnotations, EDGE_ANNOTATIONS >::drawNodePoints(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph(), mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::mergeGraph(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodeCount().

◆ root

template<class CPOSE, class MAPS_IMPLEMENTATION = mrpt::utils::map_traits_stdmap, class NODE_ANNOTATIONS = mrpt::graphs::detail::TNodeAnnotationsEmpty, 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 178 of file CNetworkOfPoses.h.

Referenced by mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::clear(), mrpt::hmtslam::CHierarchicalMapMHPartition::computeGloballyConsistentNodeCoordinates(), and mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::extractSubGraph().

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Static Private Member Functions

Utility methods

Member Typedef Documentation

◆ BASE

◆ const_iterator

◆ const_reverse_iterator

◆ constraint_no_pdf_t

◆ constraint_t

◆ edge_annotations_t

◆ edge_underlying_t

◆ edges_map_t

◆ global_poses_pdf_t

◆ global_poses_t

◆ iterator

◆ maps_implementation_t

◆ node_annotations_t

◆ reverse_iterator

◆ self_t

Constructor & Destructor Documentation

◆ CNetworkOfPoses()

Member Function Documentation

◆ addVirtualEdge()

◆ begin() [1/2]

◆ begin() [2/2]

◆ chi2()

◆ clear()

◆ clearEdges()

◆ collapseDuplicatedEdges()

◆ connectGraphPartitions()

◆ countDifferentNodesInEdges()

◆ dijkstra_nodes_estimate()

◆ edgeCount()

◆ edgeExists()

◆ end() [1/2]

◆ end() [2/2]

◆ eraseEdge()

◆ extractSubGraph()

◆ getAdjacencyMatrix() [1/2]

◆ getAdjacencyMatrix() [2/2]

◆ getAllNodes() [1/2]

◆ getAllNodes() [2/2]

◆ getAs3DObject()

◆ getEdge() [1/2]

◆ getEdge() [2/2]

◆ getEdges() [1/2]

◆ getEdges() [2/2]

◆ getEdgeSquareError() [1/2]

◆ getEdgeSquareError() [2/2]

◆ getGlobalSquareError()

◆ getNeighborsOf() [1/2]

◆ getNeighborsOf() [2/2]

◆ insertEdge()

◆ insertEdgeAtEnd()

◆ loadFromTextFile()

◆ mergeGraph()

◆ nodeCount()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ readAsText()

◆ rend() [1/2]

◆ rend() [2/2]

◆ saveAsDot() [1/2]

◆ saveAsDot() [2/2]

◆ saveToTextFile()

◆ writeAsText()

Member Data Documentation

◆ edges

◆ edges_store_inverse_poses

◆ nodes

◆ root