Detailed Description

Abstract graph and tree data structures, plus generic graph algorithms.

Namespaces
	detail
	Internal functions for MRPT.

Classes
class	CAStarAlgorithm
	This class is intended to efficiently solve graph-search problems using heuristics to determine the best path. More...

class	CDijkstra
	The Dijkstra algorithm for finding the shortest path between a given source node in a (weighted) directed graph and all other nodes in the form of a tree. More...

class	CDirectedGraph
	A directed graph with the argument of the template specifying the type of the annotations in the edges. More...

class	CDirectedTree
	< Make available this typedef in this namespace too More...

class	CGraphPartitioner
	Algorithms for finding the min-normalized-cut of a weighted undirected graph. More...

class	CNetworkOfPoses
	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). More...

class	ScalarFactorGraph
	Sparse solver for GMRF (Gaussian Markov Random Fields) graphical models. More...

struct	TGraphvizExportParams
	Used in mrpt::graphs export functions to .dot files. More...

Typedefs
Handy typedefs for CNetworkOfPoses commonly used types
typedef CNetworkOfPoses< mrpt::poses::CPose2D, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses2D
	The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPose3D, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses3D
	The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussian, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses2DCov
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussian, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses3DCov
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses2DInf
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmap >	CNetworkOfPoses3DInf
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...

typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations >	CNetworkOfPoses2DInf_NA
	Specializations of CNetworkOfPoses for graphs whose nodes inherit from TMRSlamNodeAnnotations struct. More...

typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations >	CNetworkOfPoses3DInf_NA

Functions
template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::utils::CStream &	operator<< (mrpt::utils::CStream &out, const CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
	Binary serialization (write) operator "stream << graph". More...

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
	Binary serialization (read) operator "stream >> graph". More...

Typedef Documentation

◆ CNetworkOfPoses2D

typedef CNetworkOfPoses<mrpt::poses::CPose2D,mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses2D

The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization.

Definition at line 864 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DCov

typedef CNetworkOfPoses<mrpt::poses::CPosePDFGaussian, mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses2DCov

The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization.

Definition at line 866 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DInf

typedef CNetworkOfPoses<mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses2DInf

The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization.

Definition at line 868 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DInf_NA

typedef CNetworkOfPoses<mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations> mrpt::graphs::CNetworkOfPoses2DInf_NA

Specializations of CNetworkOfPoses for graphs whose nodes inherit from TMRSlamNodeAnnotations struct.

Definition at line 873 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3D

typedef CNetworkOfPoses<mrpt::poses::CPose3D,mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses3D

The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization.

Definition at line 865 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DCov

typedef CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussian, mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses3DCov

The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization.

Definition at line 867 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DInf

typedef CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmap> mrpt::graphs::CNetworkOfPoses3DInf

The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization.

Definition at line 869 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DInf_NA

typedef CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations> mrpt::graphs::CNetworkOfPoses3DInf_NA

Definition at line 874 of file CNetworkOfPoses.h.

Function Documentation

◆ operator<<()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::utils::CStream& mrpt::graphs::operator<<	(	mrpt::utils::CStream &	out,
		const CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &	obj
	)

Binary serialization (write) operator "stream << graph".

Definition at line 844 of file CNetworkOfPoses.h.

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

◆ operator>>()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::utils::CStream& mrpt::graphs::operator>>	(	mrpt::utils::CStream &	in,
		CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &	obj
	)

Binary serialization (read) operator "stream >> graph".

Definition at line 853 of file CNetworkOfPoses.h.

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