Detailed Description

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

Definition at line 163 of file CRandomFieldGridMap3D.h.

Public Types
using	Ptr = std::shared_ptr< ConnectivityDescriptor >

Public Member Functions
virtual	~ConnectivityDescriptor ()=default

virtual bool	getEdgeInformation (const CRandomFieldGridMap3D *parent, size_t icx, size_t icy, size_t icz, size_t jcx, size_t jcy, size_t jcz, double &out_edge_information)=0
	Implement the check of whether node i=(icx,icy,icz) is connected with node j=(jcx,jcy,jcy). More...

Member Typedef Documentation

Definition at line 165 of file CRandomFieldGridMap3D.h.

virtual mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::~ConnectivityDescriptor ( )

virtualdefault

virtual bool mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation	(	const CRandomFieldGridMap3D *	parent,
		size_t	icx,
		size_t	icy,
		size_t	icz,
		size_t	jcx,
		size_t	jcy,
		size_t	jcz,
		double &	out_edge_information
	)

pure virtual

Implement the check of whether node i=(icx,icy,icz) is connected with node j=(jcx,jcy,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
icx	(cx,cy,cz) for node "i"
jcx	(cx,cy,cz) for node "j"
out_edge_information	Must output here the inverse of the variance of the constraint edge.

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