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 48 of file CNetworkOfPoses.h.

#include <mrpt/graphs/CNetworkOfPoses.h>

Static Public Member Functions
static void	write_VERTEX_line (const TNodeID id, const mrpt::poses::CPose2D &p, std::ostream &f)
static void	write_VERTEX_line (const TNodeID id, const mrpt::poses::CPose3D &p, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussianInf &edge, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussianInf &edge, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussian &edge, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussian &edge, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const mrpt::poses::CPose2D &edge, std::ostream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const mrpt::poses::CPose3D &edge, std::ostream &f)
static void	save_graph_of_poses_to_ostream (const graph_t *g, std::ostream &f)
static void	save_graph_of_poses_to_text_file (const graph_t *g, const std::string &fil)
static void	save_graph_of_poses_to_binary_file (const graph_t *g, mrpt::serialization::CArchive &out)
static void	read_graph_of_poses_from_binary_file (graph_t *g, mrpt::serialization::CArchive &in)
static void	load_graph_of_poses_from_text_stream (graph_t *g, std::istream &f, const std::string &fil=std::string("(none)"))
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, std::map< TNodeID, size_t > *topological_distances=nullptr)
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 mrpt::poses::CPose2D &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const mrpt::poses::CPose3D &p)
static double	auxEuclid2Dist (const mrpt::poses::CPose2D &p1, const mrpt::poses::CPose2D &p2)
static double	auxEuclid2Dist (const mrpt::poses::CPose3D &p1, const mrpt::poses::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

auxEuclid2Dist() [1/2]

template<class graph_t >

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

inlinestatic

Definition at line 926 of file CNetworkOfPoses_impl.h.

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

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auxEuclid2Dist() [2/2]

template<class graph_t >

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

inlinestatic

Definition at line 932 of file CNetworkOfPoses_impl.h.

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

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auxMaha2Dist() [1/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 879 of file CNetworkOfPoses_impl.h.

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

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auxMaha2Dist() [2/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 885 of file CNetworkOfPoses_impl.h.

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

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auxMaha2Dist() [3/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 893 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::math::multiply_HCHt_scalar(), and mrpt::math::wrapToPiInPlace().

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auxMaha2Dist() [4/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 900 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussian::cov, mrpt::math::MatrixBase< Scalar, Derived >::inverse_LLt(), mrpt::math::multiply_HtCH_scalar(), and mrpt::math::wrapToPiInPlace().

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auxMaha2Dist() [5/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 911 of file CNetworkOfPoses_impl.h.

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

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auxMaha2Dist() [6/6]

template<class graph_t >

template<class VEC >

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

inlinestatic

Definition at line 917 of file CNetworkOfPoses_impl.h.

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

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graph_edge_sqerror()

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  )

inlinestatic

Definition at line 948 of file CNetworkOfPoses_impl.h.

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

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

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graph_of_poses_collapse_dup_edges()

template<class graph_t >

static size_t mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_collapse_dup_edges ( graph_t *  g )

inlinestatic

Definition at line 713 of file CNetworkOfPoses_impl.h.

References MRPT_END, and MRPT_START.

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

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graph_of_poses_dijkstra_init()

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::graph_of_poses_dijkstra_init ( graph_t *  g, std::map< TNodeID, size_t > *  topological_distances = nullptr  )

inlinestatic

Definition at line 764 of file CNetworkOfPoses_impl.h.

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

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

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load_graph_of_poses_from_text_file()

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  )

inlinestatic

Definition at line 693 of file CNetworkOfPoses_impl.h.

References THROW_EXCEPTION_FMT.

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

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load_graph_of_poses_from_text_stream()

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::load_graph_of_poses_from_text_stream ( graph_t *  g, std::istream &  f, const std::string &  fil = std::string("(none)")  )

inlinestatic

Definition at line 251 of file CNetworkOfPoses_impl.h.

References mrpt::graphs::detail::TPosePDFHelper< POSE_PDF >::copyFrom2D(), mrpt::graphs::detail::TPosePDFHelper< POSE_PDF >::copyFrom3D(), mrpt::format(), mrpt::io::CTextFileLinesParser::getCurrentLineNumber(), mrpt::io::CTextFileLinesParser::getNextLine(), mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::nodes, mrpt::math::TPose2D::phi, mrpt::math::TPose3D::pitch, mrpt::math::TPose3DQuat::qr, mrpt::math::TPose3DQuat::qx, mrpt::math::TPose3DQuat::qy, mrpt::math::TPose3DQuat::qz, mrpt::io::CTextFileLinesParser::rewind(), mrpt::math::TPose3D::roll, mrpt::math::MatrixBase< Scalar, Derived >::setIdentity(), mrpt::system::strCmpI(), THROW_EXCEPTION, mrpt::math::TPose3DQuat::x, mrpt::math::TPose2D::x, mrpt::math::TPose3D::x, mrpt::math::TPose3DQuat::y, mrpt::math::TPose2D::y, mrpt::math::TPose3D::y, mrpt::math::TPose3D::yaw, mrpt::math::TPose3DQuat::z, and mrpt::math::TPose3D::z.

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

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read_graph_of_poses_from_binary_file()

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::read_graph_of_poses_from_binary_file ( graph_t *  g, mrpt::serialization::CArchive &  in  )

inlinestatic

Definition at line 223 of file CNetworkOfPoses_impl.h.

References ASSERT_EQUAL_, mrpt::typemeta::TTypeName< T >::get(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

Referenced by mrpt::graphs::operator>>().

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save_graph_of_poses_to_binary_file()

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::save_graph_of_poses_to_binary_file ( const graph_t *  g, mrpt::serialization::CArchive &  out  )

inlinestatic

Definition at line 206 of file CNetworkOfPoses_impl.h.

References mrpt::typemeta::TTypeName< T >::get(), and out.

Referenced by mrpt::graphs::operator<<().

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save_graph_of_poses_to_ostream()

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::save_graph_of_poses_to_ostream ( const graph_t *  g, std::ostream &  f  )

inlinestatic

Definition at line 167 of file CNetworkOfPoses_impl.h.

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

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save_graph_of_poses_to_text_file()

template<class graph_t >

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

inlinestatic

Definition at line 192 of file CNetworkOfPoses_impl.h.

References THROW_EXCEPTION_FMT.

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

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write_EDGE_line() [1/6]

template<class graph_t >

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

inlinestatic

Definition at line 95 of file CNetworkOfPoses_impl.h.

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

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write_EDGE_line() [2/6]

template<class graph_t >

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

inlinestatic

Definition at line 107 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, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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write_EDGE_line() [3/6]

template<class graph_t >

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

inlinestatic

Definition at line 132 of file CNetworkOfPoses_impl.h.

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

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write_EDGE_line() [4/6]

template<class graph_t >

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

inlinestatic

Definition at line 140 of file CNetworkOfPoses_impl.h.

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

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write_EDGE_line() [5/6]

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line ( const TPairNodeIDs &  edgeIDs, const mrpt::poses::CPose2D &  edge, std::ostream &  f  )

inlinestatic

Definition at line 148 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::cov_inv, mrpt::poses::CPosePDFGaussianInf::mean, and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

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write_EDGE_line() [6/6]

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_EDGE_line ( const TPairNodeIDs &  edgeIDs, const mrpt::poses::CPose3D &  edge, std::ostream &  f  )

inlinestatic

Definition at line 157 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::cov_inv, mrpt::poses::CPose3DPDFGaussianInf::mean, and mrpt::math::MatrixBase< Scalar, Derived >::setIdentity().

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write_VERTEX_line() [1/2]

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line ( const TNodeID  id, const mrpt::poses::CPose2D &  p, std::ostream &  f  )

inlinestatic

Definition at line 78 of file CNetworkOfPoses_impl.h.

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

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write_VERTEX_line() [2/2]

template<class graph_t >

static void mrpt::graphs::detail::graph_ops< graph_t >::write_VERTEX_line ( const TNodeID  id, const mrpt::poses::CPose3D &  p, std::ostream &  f  )

inlinestatic

Definition at line 85 of file CNetworkOfPoses_impl.h.

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

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