10 #ifndef TUNCERTAINTYPATH_H 11 #define TUNCERTAINTYPATH_H 38 template <
class GRAPH_T =
typename mrpt::graphs::CNetworkOfPoses2DInf>
46 typedef typename constraint_t::type_value
pose_t;
103 o <<
obj.getAsString() << endl;
bool determinant_is_updated
Determine whether the determinant of the Path is up-to-date and can be directly fetched or has to be ...
std::vector< mrpt::utils::TNodeID > nodes_traversed
Nodes that the Path comprises of.
std::string getAsString() const
Holds the data of an information path.
void addToPath(const mrpt::utils::TNodeID &node, const constraint_t &edge)
add a new link in the current path.
GLsizei GLsizei GLuint * obj
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
TUncertaintyPath< GRAPH_T > self_t
uint64_t TNodeID
The type for node IDs in graphs of different types.
constraint_t curr_pose_pdf
Current path position + corresponding covariance.
constraint_t::type_value pose_t
type of underlying poses (2D/3D).
friend std::ostream & operator<<(std::ostream &o, const self_t &obj)
GLsizei const GLchar ** string
bool hasLowerUncertaintyThan(const self_t &other) const
Test if the current path has a lower uncertainty than the other path.
void assertIsBetweenNodeIDs(const mrpt::utils::TNodeID &from, const mrpt::utils::TNodeID &to) const
Assert that the current path is between the given nodeIDs.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void dumpToTextStream(mrpt::utils::CStream &out) const
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion)
This method load the options from a ".ini"-like file or memory-stored string list.
double determinant_cached
bool operator==(const self_t &other) const
bool operator!=(const self_t &other) const
const mrpt::utils::TNodeID & getSource() const
Return the source node of this path.
GLsizei GLsizei GLchar * source
self_t & operator+=(const self_t &other)
GRAPH_T::constraint_t constraint_t
Handy typedefs.
const mrpt::utils::TNodeID & getDestination() const
Return the Destination node of this path.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...