mrpt::graphslam::graphslam_traits< GRAPH_T > Struct Template Reference

Detailed Description

template<class GRAPH_T>
struct mrpt::graphslam::graphslam_traits< GRAPH_T >

Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names.

Template Parameters

GRAPH_T

This will typically be any mrpt::graphs::CNetworkOfPoses<...>

Definition at line 32 of file graphslam/include/mrpt/graphslam/types.h.

#include <mrpt/graphslam/types.h>

Classes
struct	observation_info_t
	Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account. More...

Public Types
using	graph_t = GRAPH_T
	Typ: mrpt::graphs::CNetworkOfPoses<...> More...
using	edge_const_iterator = typename graph_t::edges_map_t::const_iterator
using	edge_map_entry_t = typename graph_t::edges_map_t::value_type
using	edge_t = typename graph_t::constraint_t
using	edge_poses_type = typename edge_t::type_value
using	SE_TYPE = mrpt::poses::Lie::SE< edge_poses_type::rotation_dimensions >
using	matrix_TxT = typename SE_TYPE::matrix_TxT
using	Array_O = typename SE_TYPE::tangent_vector
using	TPairJacobs = std::pair< matrix_TxT, matrix_TxT >
using	map_pairIDs_pairJacobs_t = std::multimap< mrpt::graphs::TPairNodeIDs, TPairJacobs >
using	TFunctorFeedback = std::function< void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)>

Member Typedef Documentation

Array_O

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::Array_O = typename SE_TYPE::tangent_vector

Definition at line 43 of file graphslam/include/mrpt/graphslam/types.h.

edge_const_iterator

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_const_iterator = typename graph_t::edges_map_t::const_iterator

Definition at line 36 of file graphslam/include/mrpt/graphslam/types.h.

edge_map_entry_t

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_map_entry_t = typename graph_t::edges_map_t::value_type

Definition at line 37 of file graphslam/include/mrpt/graphslam/types.h.

edge_poses_type

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_poses_type = typename edge_t::type_value

Definition at line 39 of file graphslam/include/mrpt/graphslam/types.h.

edge_t

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_t = typename graph_t::constraint_t

Definition at line 38 of file graphslam/include/mrpt/graphslam/types.h.

graph_t

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::graph_t = GRAPH_T

Typ: mrpt::graphs::CNetworkOfPoses<...>

Definition at line 35 of file graphslam/include/mrpt/graphslam/types.h.

map_pairIDs_pairJacobs_t

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t = std::multimap<mrpt::graphs::TPairNodeIDs, TPairJacobs>

Definition at line 48 of file graphslam/include/mrpt/graphslam/types.h.

matrix_TxT

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::matrix_TxT = typename SE_TYPE::matrix_TxT

Definition at line 41 of file graphslam/include/mrpt/graphslam/types.h.

SE_TYPE

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::SE_TYPE = mrpt::poses::Lie::SE<edge_poses_type::rotation_dimensions>

Definition at line 40 of file graphslam/include/mrpt/graphslam/types.h.

TFunctorFeedback

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::TFunctorFeedback = std::function<void( const GRAPH_T& graph, const size_t iter, const size_t max_iter, const double cur_sq_error)>

Definition at line 64 of file graphslam/include/mrpt/graphslam/types.h.

TPairJacobs

template<class GRAPH_T>

using mrpt::graphslam::graphslam_traits< GRAPH_T >::TPairJacobs = std::pair<matrix_TxT, matrix_TxT>

Definition at line 46 of file graphslam/include/mrpt/graphslam/types.h.