mrpt::graphs::detail::graph_ops Struct Reference

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Detailed Description

a helper struct with static template functions

See also:

CNetworkOfPoses

#include <mrpt/graphs/CNetworkOfPoses_impl.h>

List of all members.

Static Public Member Functions
static void	write_VERTEX_line (const TNodeID id, const CPose2D &p, std::ofstream &f)
static void	write_VERTEX_line (const TNodeID id, const CPose3D &p, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussianInf &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussianInf &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPosePDFGaussian &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3DPDFGaussian &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose2D &edge, std::ofstream &f)
static void	write_EDGE_line (const TPairNodeIDs &edgeIDs, const CPose3D &edge, std::ofstream &f)
static void	save_graph_of_poses_from_text_file (const graph_t *g, const std::string &fil)
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)
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 CPose2D &p)
template<class VEC >
static double	auxMaha2Dist (VEC &err, const CPose3D &p)
static double	auxEuclid2Dist (const CPose2D &p1, const CPose2D &p2)
static double	auxEuclid2Dist (const CPose3D &p1, const 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)

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Member Function Documentation

static double mrpt::graphs::detail::graph_ops::auxEuclid2Dist	(	const CPose2D &	p1,
		const CPose2D &	p2
	)		[inline, static]

Definition at line 537 of file CNetworkOfPoses_impl.h.

References mrpt::utils::square(), mrpt::math::wrapToPi(), and mrpt::poses::CPose2D::phi().

static double mrpt::graphs::detail::graph_ops::auxEuclid2Dist	(	const CPose3D &	p1,
		const CPose3D &	p2
	)		[inline, static]

Definition at line 543 of file CNetworkOfPoses_impl.h.

References mrpt::utils::square(), mrpt::math::wrapToPi(), mrpt::poses::CPose3D::yaw(), mrpt::poses::CPose3D::pitch(), and mrpt::poses::CPose3D::roll().

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPosePDFGaussianInf &	p
	)		[inline, static]

Definition at line 500 of file CNetworkOfPoses_impl.h.

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

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPose3DPDFGaussianInf &	p
	)		[inline, static]

Definition at line 504 of file CNetworkOfPoses_impl.h.

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

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPosePDFGaussian &	p
	)		[inline, static]

Definition at line 510 of file CNetworkOfPoses_impl.h.

References mrpt::math::wrapToPiInPlace(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPosePDFGaussian::cov, and multiply_HCHt_scalar().

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPose3DPDFGaussian &	p
	)		[inline, static]

Definition at line 516 of file CNetworkOfPoses_impl.h.

References mrpt::math::wrapToPiInPlace(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPose3DPDFGaussian::cov, and multiply_HCHt_scalar().

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPose2D &	p
	)		[inline, static]

Definition at line 525 of file CNetworkOfPoses_impl.h.

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

template<class VEC >

static double mrpt::graphs::detail::graph_ops::auxMaha2Dist	(	VEC &	err,
		const CPose3D &	p
	)		[inline, static]

Definition at line 529 of file CNetworkOfPoses_impl.h.

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

static double mrpt::graphs::detail::graph_ops::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
	)		[inline, static]

Definition at line 558 of file CNetworkOfPoses_impl.h.

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

static size_t mrpt::graphs::detail::graph_ops::graph_of_poses_collapse_dup_edges

(

graph_t *

g

)

[inline, static]

Definition at line 405 of file CNetworkOfPoses_impl.h.

References MRPT_START, and MRPT_END.

static void mrpt::graphs::detail::graph_ops::graph_of_poses_dijkstra_init

(

graph_t *

g

)

[inline, static]

Definition at line 447 of file CNetworkOfPoses_impl.h.

References MRPT_START, and MRPT_END.

static void mrpt::graphs::detail::graph_ops::load_graph_of_poses_from_text_file	(	graph_t *	g,
		const std::string &	fil
	)		[inline, static]

Definition at line 161 of file CNetworkOfPoses_impl.h.

References mrpt::utils::CTextFileLinesParser::getNextLine(), mrpt::utils::CTextFileLinesParser::getCurrentLineNumber(), THROW_EXCEPTION, mrpt::format(), mrpt::system::strCmpI(), mrpt::utils::CTextFileLinesParser::rewind(), mrpt::math::TPose2D::x, mrpt::math::TPose2D::y, mrpt::math::TPose2D::phi, mrpt::graphs::CNetworkOfPoses::nodes, mrpt::math::TPose3D::x, mrpt::math::TPose3D::y, mrpt::math::TPose3D::z, mrpt::math::TPose3D::roll, mrpt::math::TPose3D::pitch, and mrpt::math::TPose3D::yaw.

static void mrpt::graphs::detail::graph_ops::save_graph_of_poses_from_text_file	(	const graph_t *	g,
		const std::string &	fil
	)		[inline, static]

Definition at line 137 of file CNetworkOfPoses_impl.h.

References THROW_EXCEPTION_CUSTOM_MSG1.

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPosePDFGaussianInf &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 80 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::mean, mrpt::poses::CPose2D::phi(), and mrpt::poses::CPosePDFGaussianInf::cov_inv.

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3DPDFGaussianInf &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 90 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::mean, mrpt::poses::CPose3D::roll(), mrpt::poses::CPose3D::pitch(), mrpt::poses::CPose3D::yaw(), and mrpt::poses::CPose3DPDFGaussianInf::cov_inv.

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPosePDFGaussian &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 106 of file CNetworkOfPoses_impl.h.

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

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3DPDFGaussian &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 112 of file CNetworkOfPoses_impl.h.

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

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose2D &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 118 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPosePDFGaussianInf::mean, and mrpt::poses::CPosePDFGaussianInf::cov_inv.

static void mrpt::graphs::detail::graph_ops::write_EDGE_line	(	const TPairNodeIDs &	edgeIDs,
		const CPose3D &	edge,
		std::ofstream &	f
	)		[inline, static]

Definition at line 125 of file CNetworkOfPoses_impl.h.

References mrpt::poses::CPose3DPDFGaussianInf::mean, and mrpt::poses::CPose3DPDFGaussianInf::cov_inv.

static void mrpt::graphs::detail::graph_ops::write_VERTEX_line	(	const TNodeID	id,
		const CPose2D &	p,
		std::ofstream &	f
	)		[inline, static]

Definition at line 67 of file CNetworkOfPoses_impl.h.

References mrpt::format(), and mrpt::poses::CPose2D::phi().

static void mrpt::graphs::detail::graph_ops::write_VERTEX_line	(	const TNodeID	id,
		const CPose3D &	p,
		std::ofstream &	f
	)		[inline, static]

Definition at line 72 of file CNetworkOfPoses_impl.h.

References mrpt::format(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPose3D::pitch(), and mrpt::poses::CPose3D::yaw().