mrpt::graphs::detail::THypothesis< GRAPH_T > Struct Template Reference

Detailed Description

template<class GRAPH_T>
struct mrpt::graphs::detail::THypothesis< GRAPH_T >

An edge hypothesis between two nodeIDs.

Struct practically provides a wrapper around the GRAPH_T::constraint_t instance. Represents a hypothesis for a potential, perhaps loop closing, edge (i.e. a graph constraint/edge), between two nodeIDs of the graph.

See also

mrpt::deciders::CLoopCloserERD

Definition at line 37 of file THypothesis.h.

#include <mrpt/graphs/THypothesis.h>

Public Types
typedef GRAPH_T::constraint_t	constraint_t
	Handy typedefs. More...
typedef constraint_t::type_value	pose_t
	type of underlying poses (2D/3D). More...
typedef THypothesis< GRAPH_T >	self_t

Public Member Functions
	THypothesis ()
	Constructor. More...
	~THypothesis ()
	Destructor. More...
void	setEdge (const constraint_t &edge)
	Setter method for the underlying edge. More...
void	inverseHypothesis ()
	Reverse the hypothesis. More...
bool	sameEndsWith (const self_t &other) const
	Compare the start and end nodes of two hypothesis. More...
bool	hasEnds (const mrpt::utils::TNodeID from, const mrpt::utils::TNodeID to) const
	Check if the start, end nodes are the ones given. More...
bool	operator< (const self_t &other) const
	Handy operator for using THypothesis in std::set. More...
std::string	getAsString (bool oneline=true) const
	Return a string representation of the object at hand. More...
void	getAsString (std::string *str, bool oneline=true) const
void	getEdge (constraint_t *edge) const
	Getter methods for the underlying edge. More...
constraint_t	getEdge () const
void	getInverseEdge (constraint_t *edge) const
	Getter methods for the inverse of the underlying edge. More...
constraint_t	getInverseEdge () const

Public Attributes
size_t	id
	ID of the current hypothesis. More...
mrpt::utils::TNodeID	from
	Starting node of the hypothesis. More...
mrpt::utils::TNodeID	to
	Ending node of the hypothesis. More...
bool	is_valid
	Field that specifies if the hypothesis is to be considered. More...
double	goodness
	Goodness value corresponding to the hypothesis edge. More...

Private Attributes
constraint_t	edge
	Edge connecting the two nodes. More...

Friends
std::ostream &	operator<< (std::ostream &o, const THypothesis< GRAPH_T > &h)

Member Typedef Documentation

constraint_t

template<class GRAPH_T>

typedef GRAPH_T::constraint_t mrpt::graphs::detail::THypothesis< GRAPH_T >::constraint_t

Handy typedefs.

type of graph constraints

Definition at line 42 of file THypothesis.h.

pose_t

template<class GRAPH_T>

typedef constraint_t::type_value mrpt::graphs::detail::THypothesis< GRAPH_T >::pose_t

type of underlying poses (2D/3D).

Definition at line 44 of file THypothesis.h.

self_t

template<class GRAPH_T>

typedef THypothesis<GRAPH_T> mrpt::graphs::detail::THypothesis< GRAPH_T >::self_t

Definition at line 45 of file THypothesis.h.

Constructor & Destructor Documentation

THypothesis()

template<class GRAPH_T >

mrpt::graphs::detail::THypothesis< GRAPH_T >::THypothesis

(

)

Constructor.

Definition at line 21 of file THypothesis_impl.h.

~THypothesis()

template<class GRAPH_T >

mrpt::graphs::detail::THypothesis< GRAPH_T >::~THypothesis

(

)

Destructor.

Definition at line 26 of file THypothesis_impl.h.

Member Function Documentation

getAsString() [1/2]

template<class GRAPH_T >

std::string mrpt::graphs::detail::THypothesis< GRAPH_T >::getAsString

(

bool

oneline = true

)

const

Return a string representation of the object at hand.

Definition at line 31 of file THypothesis_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool().

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getAsString() [2/2]

template<class GRAPH_T >

void mrpt::graphs::detail::THypothesis< GRAPH_T >::getAsString	(	std::string *	str,
		bool	oneline = true
	)		const

Definition at line 39 of file THypothesis_impl.h.

References ASSERTMSG_.

getEdge() [1/2]

template<class GRAPH_T >

void mrpt::graphs::detail::THypothesis< GRAPH_T >::getEdge

(

constraint_t *

edge

)

const

Getter methods for the underlying edge.

See also

setEdge

Definition at line 80 of file THypothesis_impl.h.

References ASSERT_.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerHypothesis().

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getEdge() [2/2]

template<class GRAPH_T >

GRAPH_T::constraint_t mrpt::graphs::detail::THypothesis< GRAPH_T >::getEdge

(

)

const

Definition at line 87 of file THypothesis_impl.h.

getInverseEdge() [1/2]

template<class GRAPH_T >

void mrpt::graphs::detail::THypothesis< GRAPH_T >::getInverseEdge

(

constraint_t *

edge

)

const

Getter methods for the inverse of the underlying edge.

Definition at line 99 of file THypothesis_impl.h.

References ASSERT_.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement().

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getInverseEdge() [2/2]

template<class GRAPH_T >

GRAPH_T::constraint_t mrpt::graphs::detail::THypothesis< GRAPH_T >::getInverseEdge

(

)

const

Definition at line 106 of file THypothesis_impl.h.

hasEnds()

template<class GRAPH_T >

bool mrpt::graphs::detail::THypothesis< GRAPH_T >::hasEnds	(	const mrpt::utils::TNodeID	from,
		const mrpt::utils::TNodeID	to
	)		const

Check if the start, end nodes are the ones given.

Returns

True if ends are the given ones

Definition at line 73 of file THypothesis_impl.h.

inverseHypothesis()

template<class GRAPH_T >

void mrpt::graphs::detail::THypothesis< GRAPH_T >::inverseHypothesis

(

)

Reverse the hypothesis.

Reversing implies, at least, changing order of from/to nodes and reversing the underlying edge

Definition at line 115 of file THypothesis_impl.h.

operator<()

template<class GRAPH_T >

bool mrpt::graphs::detail::THypothesis< GRAPH_T >::operator<

(

const self_t &

other

)

const

Handy operator for using THypothesis in std::set.

Definition at line 128 of file THypothesis_impl.h.

References mrpt::graphs::detail::THypothesis< GRAPH_T >::id.

sameEndsWith()

template<class GRAPH_T >

bool mrpt::graphs::detail::THypothesis< GRAPH_T >::sameEndsWith

(

const self_t &

other

)

const

Compare the start and end nodes of two hypothesis.

Returns

True if ends match.

Definition at line 67 of file THypothesis_impl.h.

References mrpt::graphs::detail::THypothesis< GRAPH_T >::from, and mrpt::graphs::detail::THypothesis< GRAPH_T >::to.

setEdge()

template<class GRAPH_T >

void mrpt::graphs::detail::THypothesis< GRAPH_T >::setEdge

(

const constraint_t &

edge

)

Setter method for the underlying edge.

See also

getEdge

Definition at line 93 of file THypothesis_impl.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool().

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Friends And Related Function Documentation

operator<<

template<class GRAPH_T>

std::ostream& operator<< ( std::ostream &  o, const THypothesis< GRAPH_T > &  h  )

friend

Definition at line 120 of file THypothesis.h.

Member Data Documentation

edge

template<class GRAPH_T>

constraint_t mrpt::graphs::detail::THypothesis< GRAPH_T >::edge

private

Edge connecting the two nodes.

Definition at line 129 of file THypothesis.h.

from

template<class GRAPH_T>

mrpt::utils::TNodeID mrpt::graphs::detail::THypothesis< GRAPH_T >::from

Starting node of the hypothesis.

Definition at line 91 of file THypothesis.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerHypothesis(), and mrpt::graphs::detail::THypothesis< GRAPH_T >::sameEndsWith().

goodness

template<class GRAPH_T>

double mrpt::graphs::detail::THypothesis< GRAPH_T >::goodness

Goodness value corresponding to the hypothesis edge.

Note

For ICP edges this resolves to the CICP goodness measure for the alignment operation.

See also

edge, mrpt::slam::CICP::goodness

Definition at line 103 of file THypothesis.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool().

id

template<class GRAPH_T>

size_t mrpt::graphs::detail::THypothesis< GRAPH_T >::id

ID of the current hypothesis.

Definition at line 89 of file THypothesis.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistencyElement(), and mrpt::graphs::detail::THypothesis< GRAPH_T >::operator<().

is_valid

template<class GRAPH_T>

bool mrpt::graphs::detail::THypothesis< GRAPH_T >::is_valid

Field that specifies if the hypothesis is to be considered.

Definition at line 95 of file THypothesis.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generatePWConsistenciesMatrix().

to

template<class GRAPH_T>

mrpt::utils::TNodeID mrpt::graphs::detail::THypothesis< GRAPH_T >::to

Ending node of the hypothesis.

Definition at line 93 of file THypothesis.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerHypothesis(), and mrpt::graphs::detail::THypothesis< GRAPH_T >::sameEndsWith().