[mrpt-graphs]
Overview
Graphs data structures (directed graphs, trees, graphs of pose constraints), graphs algorithms
Library mrpt-graphs
This C++ library is part of MRPT and can be installed in Debian-based systems with:
sudo apt install libmrpt-graphs-dev
Read also how to import MRPT into your CMake scripts.
Graph-related stuff: generic directed graphs (mrpt::graphs::CDirectedGraph) and trees (mrpt::graphs::CDirectedTree).
Graphs of pose constraints are also defined in this library, via a generic template mrpt::graphs::CNetworkOfPoses, capable of reading and writing to both binary and text pose-graph file formats.
Predefined typedefs exist for:
mrpt::graphs::CNetworkOfPoses2D -> Edges are 2D graphs (x,y,phi), without uncertainty.
mrpt::graphs::CNetworkOfPoses3D -> Edges are 3D graphs (x,y,z,yaw,pitch,roll), without uncertainty.
mrpt::graphs::CNetworkOfPoses2DInf -> Edges are 2D graphs (x,y,phi), with an inverse covariance (information) matrix.
mrpt::graphs::CNetworkOfPoses3DInf -> Edges are 3D graphs (x,y,z,yaw,pitch,roll), with an inverse covariance (information) matrix.