template struct mrpt::graphslam::graphslam_traits

Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names.

Parameters:

GRAPH_T

This will typically be any mrpt::graphs::CNetworkOfPoses<…>

#include <mrpt/graphslam/types.h>

template <class GRAPH_T>
struct graphslam_traits
{
    // typedefs

    typedef GRAPH_T graph_t;
    typedef typename graph_t::edges_map_t::const_iterator edge_const_iterator;
    typedef typename graph_t::edges_map_t::value_type edge_map_entry_t;
    typedef typename graph_t::constraint_t edge_t;
    typedef typename edge_t::type_value edge_poses_type;
    typedef mrpt::poses::Lie::SE<edge_poses_type::rotation_dimensions> SE_TYPE;
    typedef typename SE_TYPE::matrix_TxT matrix_TxT;
    typedef typename SE_TYPE::tangent_vector Array_O;
    typedef std::pair<matrix_TxT, matrix_TxT> TPairJacobs;
    typedef std::multimap<mrpt::graphs::TPairNodeIDs, TPairJacobs> map_pairIDs_pairJacobs_t;
    typedef std::function<void(const GRAPH_T&graph, const size_t iter, const size_t max_iter, const double cur_sq_error)> TFunctorFeedback;

    // structs

    struct observation_info_t;
};

Typedefs

typedef GRAPH_T graph_t

Typ: mrpt::graphs::CNetworkOfPoses<…>