Detailed Description

A directed graph of pose constraints, with edges being the relative pose between pairs of nodes indentified by their numeric IDs (of type TNodeID).

A link or edge between two nodes "i" and "j", that is, the pose $p_{ij}$ , holds the relative position of "j" with respect to "i". These poses are stored in the edges in the format specified by the template argument CPOSE. Users should employ the following derived classes depending on the desired representation of edges:

mrpt::graphs::CNetworkOfPoses2D : 2D edges as a simple CPose2D (x y phi)
mrpt::graphs::CNetworkOfPoses3D : 3D edges as a simple CPose3D (x y z yaw pitch roll)
mrpt::graphs::CNetworkOfPoses2DInf : 2D edges as a Gaussian PDF with information matrix ( CPosePDFGaussianInf )
mrpt::graphs::CNetworkOfPoses3DInf : 3D edges as a Gaussian PDF with information matrix ( CPose3DPDFGaussianInf )
mrpt::graphs::CNetworkOfPoses2DCov : 2D edges as a Gaussian PDF with covariance matrix ( CPosePDFGaussian ). It's more efficient to use the information matrix version instead!
mrpt::graphs::CNetworkOfPoses3DCov : 3D edges as a Gaussian PDF with covariance matrix ( CPose3DPDFGaussian ). It's more efficient to use the information matrix version instead!

Two main members store all the information in this class:

edge (in the base class mrpt::graphs::CDirectedGraph::edge): A map from pairs of node ID -> pose constraints.
nodes : A map from node ID -> estimated pose of that node (actually, read below on the template argument MAPS_IMPLEMENTATION).

Graphs can be loaded and saved to text file in the format used by TORO & HoG-man (more on the format here ), using loadFromTextFile and saveToTextFile.

This class is the base for representing networks of poses, which are the main data type of a series of SLAM algorithms implemented in the library mrpt-slam, in the namespace mrpt::graphslam.

For tools to visualize graphs as 2D/3D plots, see the namespace mrpt::opengl::graph_tools in the library mrpt-opengl.

The template arguments are:

CPOSE: The type of the edges, which hold a relative pose (2D/3D, just a value or a Gaussian, etc.)
MAPS_IMPLEMENTATION: Can be either mrpt::utils::map_traits_stdmap or mrpt::utils::map_traits_map_as_vector. Determines the type of the list of global poses (member nodes).

See also:: mrpt::graphslam

#include <mrpt/graphs/CNetworkOfPoses.h>

Inheritance diagram for mrpt::graphs::CNetworkOfPoses:

[legend]

List of all members.

Classes
struct	global_pose_t
	The type of each global pose in nodes: an extension of the constraint_no_pdf_t pose with any optional user-defined data. More...
Public Types
typedef mrpt::aligned_containers < TPairNodeIDs, edge_t > ::multimap_t	edges_map_t
	The type of the member edges.
typedef edges_map_t::iterator	iterator
typedef edges_map_t::const_iterator	const_iterator
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
iterator	begin ()
const_iterator	begin () const
iterator	end ()
const_iterator	end () const
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)
Ctors & Dtors
	CNetworkOfPoses ()
	Default constructor (just sets root to "0" and edges_store_inverse_poses to "false")
	~CNetworkOfPoses ()
Edges/nodes utility methods
size_t	edgeCount () const
	The number of edges in the graph.
void	clearEdges ()
	Erase all edges.
void	insertEdge (TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)
	Insert an edge (from -> to) with the given edge value.
void	insertEdgeAtEnd (TNodeID from_nodeID, TNodeID to_nodeID, const edge_t &edge_value)
	Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted std::multimap).
bool	edgeExists (TNodeID from_nodeID, TNodeID to_nodeID) const
	Test is the given directed edge exists.
edge_t &	getEdge (TNodeID from_nodeID, TNodeID to_nodeID)
	Return a reference to the content of a given edge.
const edge_t &	getEdge (TNodeID from_nodeID, TNodeID to_nodeID) const
	Return a reference to the content of a given edge.
std::pair< iterator, iterator >	getEdges (TNodeID from_nodeID, TNodeID to_nodeID)
	Return a pair<first,last> of iterators to the range of edges between two given nodes.
std::pair< const_iterator, const_iterator >	getEdges (TNodeID from_nodeID, TNodeID to_nodeID) const
	Return a pair<first,last> of const iterators to the range of edges between two given nodes.
void	eraseEdge (TNodeID from_nodeID, TNodeID to_nodeID)
	Erase all edges between the given nodes (it has no effect if no edge existed)
void	getAllNodes (std::set< TNodeID > &lstNode_IDs) const
	Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges.
std::set< TNodeID >	getAllNodes () const
	Less efficient way to get all nodes that returns a copy of the set object.
size_t	countDifferentNodesInEdges () const
	Count how many different node IDs appear in the graph edges.
void	getNeighborsOf (const TNodeID nodeID, std::set< TNodeID > &neighborIDs) const
	Return the list of all neighbors of "nodeID", by creating a list of their node IDs.
void	getAdjacencyMatrix (MAP_NODEID_SET_NODEIDS &outAdjacency) const
	Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling getNeighborsOf() for each node in the graph.
void	getAdjacencyMatrix (MAP_NODEID_SET_NODEIDS &outAdjacency, const SET_NODEIDS &onlyForTheseNodes) const
	Just like getAdjacencyMatrix but return only the adjacency for those node_ids in the set onlyForTheseNodes (both endings nodes of an edge must be within the set for it to be returned)
Public Attributes
edges_map_t	edges
	The public member with the directed edges in the graph.
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: $\Delta_i^j = i \ominus j$ .

Member Typedef Documentation

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

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

Definition at line 111 of file CNetworkOfPoses.h.

typedef edges_map_t::const_iterator mrpt::graphs::CDirectedGraph::const_iterator [inherited]

Definition at line 77 of file CDirectedGraph.h.

typedef CPOSE::type_value mrpt::graphs::CNetworkOfPoses::constraint_no_pdf_t

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

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

The extra annotations in edges, apart from a constraint_t.

Definition at line 116 of file CNetworkOfPoses.h.

typedef mrpt::aligned_containers<TPairNodeIDs,edge_t>::multimap_t mrpt::graphs::CDirectedGraph::edges_map_t [inherited]

The type of the member edges.

Definition at line 75 of file CDirectedGraph.h.

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

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

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 edges_map_t::iterator mrpt::graphs::CDirectedGraph::iterator [inherited]

Definition at line 76 of file CDirectedGraph.h.

typedef MAPS_IMPLEMENTATION mrpt::graphs::CNetworkOfPoses::maps_implementation_t

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

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

My own type.

Definition at line 112 of file CNetworkOfPoses.h.

Constructor & Destructor Documentation

mrpt::graphs::CNetworkOfPoses::CNetworkOfPoses ( ) [inline]

Default constructor (just sets root to "0" and edges_store_inverse_poses to "false")

Definition at line 252 of file CNetworkOfPoses.h.

mrpt::graphs::CNetworkOfPoses::~CNetworkOfPoses ( ) [inline]

Definition at line 253 of file CNetworkOfPoses.h.

Member Function Documentation

iterator mrpt::graphs::CDirectedGraph::begin ( ) [inline, inherited]

Definition at line 86 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

const_iterator mrpt::graphs::CDirectedGraph::begin ( ) const [inline, inherited]

Definition at line 88 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

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

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

Definition at line 234 of file CNetworkOfPoses.h.

void mrpt::graphs::CDirectedGraph::clearEdges ( ) [inline, inherited]

Erase all edges.

Definition at line 96 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

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

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.

size_t mrpt::graphs::CDirectedGraph::countDifferentNodesInEdges ( ) const [inline, inherited]

Count how many different node IDs appear in the graph edges.

Definition at line 179 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

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

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.

size_t mrpt::graphs::CDirectedGraph::edgeCount ( ) const [inline, inherited]

The number of edges in the graph.

Definition at line 95 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

bool mrpt::graphs::CDirectedGraph::edgeExists	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		const `[inline, inherited]`

Test is the given directed edge exists.

Definition at line 118 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

iterator mrpt::graphs::CDirectedGraph::end ( ) [inline, inherited]

Definition at line 87 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

const_iterator mrpt::graphs::CDirectedGraph::end ( ) const [inline, inherited]

Definition at line 89 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::eraseEdge	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		`[inline, inherited]`

Erase all edges between the given nodes (it has no effect if no edge existed)

Definition at line 158 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::getAdjacencyMatrix ( MAP_NODEID_SET_NODEIDS & outAdjacency ) const [inline, inherited]

Return a map from node IDs to all its neighbors (that is, connected nodes, regardless of the edge direction) This is a much more efficient method than calling getNeighborsOf() for each node in the graph.

Possible values for the template argument MAP_NODEID_SET_NODEIDS are:

std::map<TNodeID, std::set<TNodeID> >
mrpt::utils::map_as_vector<TNodeID, std::set<TNodeID> >
See also:
getNeighborsOf

Definition at line 211 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::getAdjacencyMatrix	(	MAP_NODEID_SET_NODEIDS &	outAdjacency,
		const SET_NODEIDS &	onlyForTheseNodes
	)		const `[inline, inherited]`

Just like getAdjacencyMatrix but return only the adjacency for those node_ids in the set onlyForTheseNodes (both endings nodes of an edge must be within the set for it to be returned)

Definition at line 224 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::getAllNodes ( std::set< TNodeID > & lstNode_IDs ) const [inline, inherited]

Return a list of all the node_ID's of the graph, generated from all the nodes that appear in the list of edges.

Definition at line 164 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

std::set<TNodeID> mrpt::graphs::CDirectedGraph::getAllNodes ( ) const [inline, inherited]

Less efficient way to get all nodes that returns a copy of the set object.

See also:: getAllNodes( std::set<TNodeID> &lstNode_IDs)

Definition at line 175 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::getAllNodes().

edge_t& mrpt::graphs::CDirectedGraph::getEdge	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		`[inline, inherited]`

Return a reference to the content of a given edge.

If several edges exist between the given nodes, the first one is returned.

Exceptions:

std::exception if the given edge does not exist

See also:: getEdges

Definition at line 126 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges, THROW_EXCEPTION, and mrpt::format().

const edge_t& mrpt::graphs::CDirectedGraph::getEdge	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		const `[inline, inherited]`

Return a reference to the content of a given edge.

If several edges exist between the given nodes, the first one is returned.

Exceptions:

std::exception if the given edge does not exist

See also:: getEdges

Definition at line 139 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges, THROW_EXCEPTION, and mrpt::format().

std::pair<iterator,iterator> mrpt::graphs::CDirectedGraph::getEdges	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		`[inline, inherited]`

Return a pair<first,last> of iterators to the range of edges between two given nodes.

See also:: getEdge

Definition at line 148 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

std::pair<const_iterator,const_iterator> mrpt::graphs::CDirectedGraph::getEdges	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID
	)		const `[inline, inherited]`

Return a pair<first,last> of const iterators to the range of edges between two given nodes.

See also:: getEdge

Definition at line 152 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

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

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]`

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.

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

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.

void mrpt::graphs::CDirectedGraph::getNeighborsOf	(	const TNodeID	nodeID,
		std::set< TNodeID > &	neighborIDs
	)		const `[inline, inherited]`

Return the list of all neighbors of "nodeID", by creating a list of their node IDs.

See also:: getAdjacencyMatrix

Definition at line 191 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::insertEdge	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID,
		const edge_t &	edge_value
	)		`[inline, inherited]`

Insert an edge (from -> to) with the given edge value.

See also:: insertEdgeAtEnd

Definition at line 100 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

void mrpt::graphs::CDirectedGraph::insertEdgeAtEnd	(	TNodeID	from_nodeID,
		TNodeID	to_nodeID,
		const edge_t &	edge_value
	)		`[inline, inherited]`

Insert an edge (from -> to) with the given edge value (more efficient version to be called if you know that the end will go at the end of the sorted std::multimap).

See also:: insertEdge

Definition at line 109 of file CDirectedGraph.h.

References mrpt::graphs::CDirectedGraph::edges.

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

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]

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.

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

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.

Member Data Documentation

edges_map_t mrpt::graphs::CDirectedGraph::edges [inherited]

The public member with the directed edges in the graph.

Definition at line 80 of file CDirectedGraph.h.

bool mrpt::graphs::CNetworkOfPoses::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: $\Delta_i^j = i \ominus j$ .

Definition at line 153 of file CNetworkOfPoses.h.

global_poses_t mrpt::graphs::CNetworkOfPoses::nodes

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.

Referenced by mrpt::graphs::detail::graph_ops::load_graph_of_poses_from_text_file().

TNodeID mrpt::graphs::CNetworkOfPoses::root

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

Classes

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation