Detailed Description

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

See also:: CNetworkOfPoses, CNetworkOfPoses2D, CNetworkOfPoses3D, CNetworkOfPoses2DInf, CNetworkOfPoses3DInf

#include <mrpt/graphs/CNetworkOfPoses.h>

Inheritance diagram for mrpt::graphs::CNetworkOfPoses3DCov:

Public Types
Typedef's
typedef mrpt::graphs::CDirectedGraph < CPOSE, EDGE_ANNOTATIONS >	BASE
	The base class "CDirectedGraph<CPOSE,EDGE_ANNOTATIONS>" */.
typedef CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >	self_t
	My own type.
typedef CPOSE	constraint_t
	The type of PDF poses in the contraints (edges) (=CPOSE template argument)
typedef NODE_ANNOTATIONS	node_annotations_t
	The extra annotations in nodes, apart from a constraint_no_pdf_t.
typedef EDGE_ANNOTATIONS	edge_annotations_t
	The extra annotations in edges, apart from a constraint_t.
typedef MAPS_IMPLEMENTATION	maps_implementation_t
	The type of map's implementation (=MAPS_IMPLEMENTATION template argument)
typedef CPOSE::type_value	constraint_no_pdf_t
	The type of edges or their means if they are PDFs (that is, a simple "edge" value)
typedef MAPS_IMPLEMENTATION::template map< TNodeID, CPOSE >	global_poses_pdf_t
	A map from pose IDs to their global coordinates estimates, with uncertainty.
typedef MAPS_IMPLEMENTATION::template map< TNodeID, global_pose_t >	global_poses_t
	A map from pose IDs to their global coordinates estimates, without uncertainty (the "most-likely value")
Public Member Functions
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
I/O file methods
void	saveToTextFile (const std::string &fileName) const
	Saves to a text file in the format used by TORO & HoG-man (more on the format here ) For 2D graphs only VERTEX2 & EDGE2 entries will be saved, and VERTEX3 & EDGE3 entries for 3D graphs.
void	loadFromTextFile (const std::string &fileName, bool collapse_dup_edges=true)
	Loads from a text file in the format used by TORO & HoG-man (more on the format here ) Recognized line entries are: VERTEX2, VERTEX3, EDGE2, EDGE3, EQUIV.
Utility methods
void	dijkstra_nodes_estimate ()
	Spanning tree computation of a simple estimation of the global coordinates of each node just from the information in all edges, sorted in a Dijkstra tree based on the current "root" node.
size_t	collapseDuplicatedEdges ()
	Look for duplicated edges (even in opposite directions) between all pairs of nodes and fuse them.
double	getGlobalSquareError (bool ignoreCovariances=true) const
	Computes the overall square error from all the pose constraints (edges) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.
double	getEdgeSquareError (const typename BASE::edges_map_t::const_iterator &itEdge, bool ignoreCovariances=true) const
	Computes the square error of one pose constraints (edge) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.
double	getEdgeSquareError (const TNodeID from_id, const TNodeID to_id, bool ignoreCovariances=true) const
	Computes the square error of one pose constraints (edge) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.
void	clear ()
	Empty all edges, nodes and set root to ID 0.
size_t	nodeCount () const
	Return number of nodes in the list of global coordinates (may be differente that all nodes appearing in edges)
Public Attributes
Data members
global_poses_t	nodes
	The nodes (vertices) of the graph, with their estimated "global" (with respect to root) position, without an associated covariance.
TNodeID	root
	The ID of the node that is the origin of coordinates, used as reference by all coordinates in .
bool	edges_store_inverse_poses
	False (default) if an edge i->j stores the normal relative pose of j as seen from i: $\Delta_i^j = j \ominus i$ True if an edge i->j stores the inverse relateive pose, that is, i as seen from j: $\Delta_i^j = i \ominus j$ .
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef CNetworkOfPoses3DCovPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CNetworkOfPoses3DCov
static mrpt::utils::TRuntimeClassId	classCNetworkOfPoses3DCov
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CNetworkOfPoses3DCovPtr	Create ()

Member Typedef Documentation

typedef mrpt::graphs::CDirectedGraph<CPOSE,EDGE_ANNOTATIONS> mrpt::graphs::CNetworkOfPoses::BASE [inherited]

The base class "CDirectedGraph<CPOSE,EDGE_ANNOTATIONS>" */.

Definition at line 111 of file CNetworkOfPoses.h.

typedef CPOSE::type_value mrpt::graphs::CNetworkOfPoses::constraint_no_pdf_t [inherited]

The type of edges or their means if they are PDFs (that is, a simple "edge" value)

Definition at line 119 of file CNetworkOfPoses.h.

typedef CPOSE mrpt::graphs::CNetworkOfPoses::constraint_t [inherited]

The type of PDF poses in the contraints (edges) (=CPOSE template argument)

Definition at line 114 of file CNetworkOfPoses.h.

typedef EDGE_ANNOTATIONS mrpt::graphs::CNetworkOfPoses::edge_annotations_t [inherited]

The extra annotations in edges, apart from a constraint_t.

Definition at line 116 of file CNetworkOfPoses.h.

typedef MAPS_IMPLEMENTATION::template map<TNodeID,CPOSE> mrpt::graphs::CNetworkOfPoses::global_poses_pdf_t [inherited]

A map from pose IDs to their global coordinates estimates, with uncertainty.

Definition at line 131 of file CNetworkOfPoses.h.

typedef MAPS_IMPLEMENTATION::template map<TNodeID,global_pose_t> mrpt::graphs::CNetworkOfPoses::global_poses_t [inherited]

A map from pose IDs to their global coordinates estimates, without uncertainty (the "most-likely value")

Definition at line 134 of file CNetworkOfPoses.h.

typedef MAPS_IMPLEMENTATION mrpt::graphs::CNetworkOfPoses::maps_implementation_t [inherited]

The type of map's implementation (=MAPS_IMPLEMENTATION template argument)

Definition at line 118 of file CNetworkOfPoses.h.

typedef NODE_ANNOTATIONS mrpt::graphs::CNetworkOfPoses::node_annotations_t [inherited]

The extra annotations in nodes, apart from a constraint_no_pdf_t.

Definition at line 115 of file CNetworkOfPoses.h.

typedef CNetworkOfPoses<CPOSE,MAPS_IMPLEMENTATION,NODE_ANNOTATIONS,EDGE_ANNOTATIONS> mrpt::graphs::CNetworkOfPoses::self_t [inherited]

My own type.

Definition at line 112 of file CNetworkOfPoses.h.

typedef CNetworkOfPoses3DCovPtr mrpt::graphs::CNetworkOfPoses3DCov::SmartPtr

A typedef for the associated smart pointer

Definition at line 318 of file CNetworkOfPoses.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::graphs::CNetworkOfPoses3DCov::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

void mrpt::graphs::CNetworkOfPoses::clear ( void ) [inline, inherited]

Empty all edges, nodes and set root to ID 0.

Definition at line 234 of file CNetworkOfPoses.h.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

size_t mrpt::graphs::CNetworkOfPoses::collapseDuplicatedEdges ( ) [inline, inherited]

Look for duplicated edges (even in opposite directions) between all pairs of nodes and fuse them.

Upon return, only one edge remains between each pair of nodes with the mean & covariance (or information matrix) corresponding to the Bayesian fusion of all the Gaussians.

Returns:: Overall number of removed edges.

Definition at line 201 of file CNetworkOfPoses.h.

static CNetworkOfPoses3DCovPtr mrpt::graphs::CNetworkOfPoses3DCov::Create ( ) [static]

static mrpt::utils::CObject* mrpt::graphs::CNetworkOfPoses3DCov::CreateObject ( ) [static]

void mrpt::graphs::CNetworkOfPoses::dijkstra_nodes_estimate ( ) [inline, inherited]

Spanning tree computation of a simple estimation of the global coordinates of each node just from the information in all edges, sorted in a Dijkstra tree based on the current "root" node.

Note that "global" coordinates are with respect to the node with the ID specified in root.

Note:: This method takes into account the value of edges_store_inverse_poses

See also:: node, root

Definition at line 195 of file CNetworkOfPoses.h.

virtual mrpt::utils::CObject* mrpt::graphs::CNetworkOfPoses3DCov::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

double mrpt::graphs::CNetworkOfPoses::getEdgeSquareError	(	const typename BASE::edges_map_t::const_iterator &	itEdge,
		bool	ignoreCovariances = `true`
	)		const `[inline, inherited]`

Computes the square error of one pose constraints (edge) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

Exceptions:

std::exception On global poses not in nodes

Definition at line 220 of file CNetworkOfPoses.h.

double mrpt::graphs::CNetworkOfPoses::getEdgeSquareError	(	const TNodeID	from_id,
		const TNodeID	to_id,
		bool	ignoreCovariances = `true`
	)		const `[inline, inherited]`

Computes the square error of one pose constraints (edge) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

Exceptions:

std::exception On edge not existing or global poses not in nodes

Definition at line 226 of file CNetworkOfPoses.h.

References ASSERTMSG_, end(), and mrpt::format().

double mrpt::graphs::CNetworkOfPoses::getGlobalSquareError ( bool ignoreCovariances = true ) const [inline, inherited]

Computes the overall square error from all the pose constraints (edges) with respect to the global poses in If ignoreCovariances is false, the squared Mahalanobis distance will be computed instead of the straight square error.

See also:: getEdgeSquareError

Exceptions:

std::exception On global poses not in nodes

Definition at line 208 of file CNetworkOfPoses.h.

References mrpt::graphs::CDirectedGraph::end(), and begin().

virtual const mrpt::utils::TRuntimeClassId* mrpt::graphs::CNetworkOfPoses3DCov::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::graphs::CNetworkOfPoses::loadFromTextFile	(	const std::string &	fileName,
		bool	collapse_dup_edges = `true`
	)		`[inline, inherited]`

Loads from a text file in the format used by TORO & HoG-man (more on the format here ) Recognized line entries are: VERTEX2, VERTEX3, EDGE2, EDGE3, EQUIV.

If an unknown entry is found, a warning is dumped to std::cerr (only once for each unknown keyword). An exception will be raised if trying to load a 3D graph into a 2D class (in the opposite case, missing 3D data will default to zero).

Parameters:

fileName	The file to load.
collapse_dup_edges	If true, collapseDuplicatedEdges will be called automatically after loading (note that this operation may take significant time for very large graphs).

See also:: loadFromBinaryFile, saveToTextFile

Exceptions:

On	any error, as a malformed line or loading a 3D graph in a 2D graph.

Definition at line 180 of file CNetworkOfPoses.h.

size_t mrpt::graphs::CNetworkOfPoses::nodeCount ( ) const [inline, inherited]

Return number of nodes in the list of global coordinates (may be differente that all nodes appearing in edges)

See also:: mrpt::graphs::CDirectedGraph::countDifferentNodesInEdges

Definition at line 244 of file CNetworkOfPoses.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::graphs::CNetworkOfPoses::saveToTextFile ( const std::string & fileName ) const [inline, inherited]

Saves to a text file in the format used by TORO & HoG-man (more on the format here ) For 2D graphs only VERTEX2 & EDGE2 entries will be saved, and VERTEX3 & EDGE3 entries for 3D graphs.

Note that EQUIV entries will not be saved, but instead several EDGEs will be stored between the same node IDs.

See also:: saveToBinaryFile, loadFromTextFile

Exceptions:

On any error

Definition at line 167 of file CNetworkOfPoses.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CObservation, mrpt::slam::CMetricMap, mrpt::opengl::CRenderizable, mrpt::poses::CPose3DQuatPDF, mrpt::poses::CPointPDF, mrpt::poses::CPose3DPDF, mrpt::poses::CPosePDF, mrpt::poses::CPoint2DPDF, mrpt::opengl::CRenderizableDisplayList, mrpt::slam::CAction, mrpt::detectors::CDetectableObject, mrpt::opengl::CTexturedObject, and mrpt::reactivenav::CHolonomicLogFileRecord.

Definition at line 56 of file CSerializable.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::graphs::CNetworkOfPoses3DCov::_init_CNetworkOfPoses3DCov [static, protected]

Definition at line 318 of file CNetworkOfPoses.h.

mrpt::utils::TRuntimeClassId mrpt::graphs::CNetworkOfPoses3DCov::classCNetworkOfPoses3DCov [static]

Definition at line 318 of file CNetworkOfPoses.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::graphs::CNetworkOfPoses3DCov::classinfo [static]

Definition at line 318 of file CNetworkOfPoses.h.

bool mrpt::graphs::CNetworkOfPoses::edges_store_inverse_poses [inherited]

False (default) if an edge i->j stores the normal relative pose of j as seen from i: $\Delta_i^j = j \ominus i$ True if an edge i->j stores the inverse relateive pose, that is, i as seen from j: $\Delta_i^j = i \ominus j$ .

Definition at line 153 of file CNetworkOfPoses.h.

global_poses_t mrpt::graphs::CNetworkOfPoses::nodes [inherited]

The nodes (vertices) of the graph, with their estimated "global" (with respect to root) position, without an associated covariance.

See also:: dijkstra_nodes_estimate

Definition at line 145 of file CNetworkOfPoses.h.

TNodeID mrpt::graphs::CNetworkOfPoses::root [inherited]

The ID of the node that is the origin of coordinates, used as reference by all coordinates in .

By default, root is the ID "0".

Definition at line 148 of file CNetworkOfPoses.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

RTTI stuff

Member Typedef Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation