[mrpt-graphs]

Detailed Description

Graphs data structures (directed graphs, trees, graphs of pose constraints), graphs algorithms.

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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

See: Using MRPT from your CMake project

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.

Classes
class	mrpt::graphs::CAStarAlgorithm< T >
	This class is intended to efficiently solve graph-search problems using heuristics to determine the best path. More...
struct	mrpt::graphs::TGraphvizExportParams
	Used in mrpt::graphs export functions to .dot files. More...
class	mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS >
	A directed graph with the argument of the template specifying the type of the annotations in the edges. More...
class	mrpt::graphs::CDirectedTree< TYPE_EDGES >
	A special kind of graph in the form of a tree with directed edges and optional edge annotations of templatized type "TYPE_EDGES". 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::graphs::TNodeID). More...
class	mrpt::graphs::CDijkstra< TYPE_GRAPH, MAPS_IMPLEMENTATION >
	The Dijkstra algorithm for finding the shortest path between a given source node in a (weighted) directed graph and all other nodes in the form of a tree. More...
struct	mrpt::graphs::detail::THypothesis< GRAPH_T >
	An edge hypothesis between two nodeIDs. More...
struct	mrpt::graphs::detail::TMRSlamEdgeAnnotations
	Struct to be used as the EDGE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More...
struct	mrpt::graphs::detail::TMRSlamNodeAnnotations
	Struct to be used as the NODE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More...
struct	mrpt::graphs::detail::TNodeAnnotations
	Abstract class from which NodeAnnotations related classes can be implemented. More...
struct	mrpt::graphs::detail::TNodeAnnotationsEmpty
	Struct to be used as the NODE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More...

Namespaces
	mrpt::graphs::detail
	Internal functions for MRPT.
	mrpt::graphs
	Abstract graph and tree data structures, plus generic graph algorithms.