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
typedef GRAPH_T	graph_t
	Typ: mrpt::graphs::CNetworkOfPoses<...> More...
typedef graph_t::edges_map_t::const_iterator	edge_const_iterator
typedef graph_t::constraint_t	edge_t
typedef edge_t::type_value	edge_poses_type
typedef mrpt::poses::SE_traits< edge_poses_type::rotation_dimensions >	SE_TYPE
typedef SE_TYPE::matrix_VxV_t	matrix_VxV_t
typedef SE_TYPE::array_t	Array_O
typedef std::pair< matrix_VxV_t, matrix_VxV_t >	TPairJacobs
typedef mrpt::aligned_containers< mrpt::utils::TPairNodeIDs, TPairJacobs >::multimap_t	map_pairIDs_pairJacobs_t
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>

typedef SE_TYPE::array_t mrpt::graphslam::graphslam_traits< GRAPH_T >::Array_O

Definition at line 42 of file graphslam/include/mrpt/graphslam/types.h.

edge_const_iterator

template<class GRAPH_T>

typedef graph_t::edges_map_t::const_iterator mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_const_iterator

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

edge_poses_type

template<class GRAPH_T>

typedef edge_t::type_value mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_poses_type

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

edge_t

template<class GRAPH_T>

typedef graph_t::constraint_t mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_t

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

graph_t

template<class GRAPH_T>

typedef GRAPH_T mrpt::graphslam::graphslam_traits< 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>

typedef mrpt::aligned_containers<mrpt::utils::TPairNodeIDs, TPairJacobs>::multimap_t mrpt::graphslam::graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t

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

matrix_VxV_t

template<class GRAPH_T>

typedef SE_TYPE::matrix_VxV_t mrpt::graphslam::graphslam_traits< GRAPH_T >::matrix_VxV_t

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

SE_TYPE

template<class GRAPH_T>

typedef mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions> mrpt::graphslam::graphslam_traits< GRAPH_T >::SE_TYPE

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>

typedef std::pair<matrix_VxV_t, matrix_VxV_t> mrpt::graphslam::graphslam_traits< GRAPH_T >::TPairJacobs

Definition at line 45 of file graphslam/include/mrpt/graphslam/types.h.