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CNetworkOfPoses.h File Reference
#include <iostream>
#include <mrpt/graphs/CDirectedGraph.h>
#include <mrpt/graphs/CDirectedTree.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/utils/traits_map.h>
#include <mrpt/utils/stl_serialization.h>
#include <mrpt/math/utils.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/system/os.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/graphs/dijkstra.h>
#include <mrpt/graphs/TNodeAnnotations.h>
#include <mrpt/graphs/TMRSlamNodeAnnotations.h>
#include <mrpt/graphs/THypothesis.h>
#include <iterator>
#include <algorithm>
#include <memory>
#include "CNetworkOfPoses_impl.h"
#include <mrpt/graphs/CVisualizer.h>
#include <mrpt/graphs/CMRVisualizer.h>
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Classes

struct  mrpt::graphs::detail::graph_ops< graph_t >
 a helper struct with static template functions More...
 
class  mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
 Base class for C*Visualizer classes. More...
 
class  mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
 Wrapper class that provides visualization of a network of poses that have been registered by many graphSLAM agents/robots. More...
 
class  mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
 A directed graph of pose constraints, with edges being the relative poses between pairs of nodes identified by their numeric IDs (of type mrpt::utils::TNodeID). More...
 
struct  mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::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...
 
struct  mrpt::utils::TTypeName< mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > >
 

Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::graphs
 Abstract graph and tree data structures, plus generic graph algorithms.
 
 mrpt::graphs::detail
 Internal functions for MRPT.
 
 mrpt::utils
 Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
 

Typedefs

Handy typedefs for CNetworkOfPoses commonly used types
typedef CNetworkOfPoses< mrpt::poses::CPose2D, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses2D
 The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPose3D, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses3D
 The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussian, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses2DCov
 The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussian, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses3DCov
 The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses2DInf
 The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmapmrpt::graphs::CNetworkOfPoses3DInf
 The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotationsmrpt::graphs::CNetworkOfPoses2DInf_NA
 Specializations of CNetworkOfPoses for graphs whose nodes inherit from TMRSlamNodeAnnotations struct. More...
 
typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::utils::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotationsmrpt::graphs::CNetworkOfPoses3DInf_NA
 

Functions

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::utils::CStreammrpt::graphs::operator<< (mrpt::utils::CStream &out, const CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
 Binary serialization (write) operator "stream << graph". More...
 
template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::utils::CStreammrpt::graphs::operator>> (mrpt::utils::CStream &in, CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
 Binary serialization (read) operator "stream >> graph". More...
 



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