Detailed Description

Abstract graph and tree data structures, plus generic graph algorithms.

Namespaces
	detail
	Internal functions for MRPT.

Classes
class	CAStarAlgorithm
	This class is intended to efficiently solve graph-search problems using heuristics to determine the best path. More...

class	CDijkstra
	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...

class	CDirectedGraph
	A directed graph with the argument of the template specifying the type of the annotations in the edges. More...

class	CDirectedTree
	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	CGraphPartitioner
	Algorithms for finding the min-normalized-cut of a weighted undirected graph. More...

class	CNetworkOfPoses
	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	HypothesisNotFoundException

class	ScalarFactorGraph
	Sparse solver for GMRF (Gaussian Markov Random Fields) graphical models. More...

struct	TGraphvizExportParams
	Used in mrpt::graphs export functions to .dot files. More...

Typedefs
using	TNodeID = uint64_t
	A generic numeric type for unique IDs of nodes or entities. More...

using	TPairNodeIDs = std::pair< TNodeID, TNodeID >
	A pair of node IDs. More...

Handy typedefs for CNetworkOfPoses commonly used types
using	CNetworkOfPoses2D = CNetworkOfPoses< mrpt::poses::CPose2D >
	The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...

using	CNetworkOfPoses3D = CNetworkOfPoses< mrpt::poses::CPose3D >
	The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization. More...

using	CNetworkOfPoses2DCov = CNetworkOfPoses< mrpt::poses::CPosePDFGaussian >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...

using	CNetworkOfPoses3DCov = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussian >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...

using	CNetworkOfPoses2DInf = CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...

using	CNetworkOfPoses3DInf = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...

using	CNetworkOfPoses2DInf_NA = CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::containers::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations >
	Specializations of CNetworkOfPoses for graphs whose nodes inherit from TMRSlamNodeAnnotations struct. More...

using	CNetworkOfPoses3DInf_NA = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations >

Functions
template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
	Binary serialization (write) operator "stream << graph". More...

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
	Binary serialization (read) operator "stream >> graph". More...

Typedef Documentation

◆ CNetworkOfPoses2D

using mrpt::graphs::CNetworkOfPoses2D = typedef CNetworkOfPoses<mrpt::poses::CPose2D>

The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization.

Definition at line 999 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DCov

using mrpt::graphs::CNetworkOfPoses2DCov = typedef CNetworkOfPoses<mrpt::poses::CPosePDFGaussian>

The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization.

Definition at line 1005 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DInf

using mrpt::graphs::CNetworkOfPoses2DInf = typedef CNetworkOfPoses<mrpt::poses::CPosePDFGaussianInf>

The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization.

Definition at line 1011 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses2DInf_NA

using mrpt::graphs::CNetworkOfPoses2DInf_NA = typedef CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::containers::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations>

Specializations of CNetworkOfPoses for graphs whose nodes inherit from TMRSlamNodeAnnotations struct.

Definition at line 1022 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3D

using mrpt::graphs::CNetworkOfPoses3D = typedef CNetworkOfPoses<mrpt::poses::CPose3D>

The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization.

Definition at line 1002 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DCov

using mrpt::graphs::CNetworkOfPoses3DCov = typedef CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussian>

The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization.

Definition at line 1008 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DInf

using mrpt::graphs::CNetworkOfPoses3DInf = typedef CNetworkOfPoses<mrpt::poses::CPose3DPDFGaussianInf>

The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization.

Definition at line 1015 of file CNetworkOfPoses.h.

◆ CNetworkOfPoses3DInf_NA

using mrpt::graphs::CNetworkOfPoses3DInf_NA = typedef CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations>

Definition at line 1025 of file CNetworkOfPoses.h.

◆ TNodeID

using mrpt::graphs::TNodeID = typedef uint64_t

A generic numeric type for unique IDs of nodes or entities.

Definition at line 16 of file TNodeID.h.

◆ TPairNodeIDs

using mrpt::graphs::TPairNodeIDs = typedef std::pair<TNodeID, TNodeID>

A pair of node IDs.

Definition at line 18 of file TNodeID.h.

Function Documentation

◆ operator<<()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::serialization::CArchive& mrpt::graphs::operator<<	(	mrpt::serialization::CArchive &	out,
		const CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &	obj
	)

Binary serialization (write) operator "stream << graph".

Definition at line 967 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::save_graph_of_poses_to_binary_file().

◆ operator>>()

template<class CPOSE , class MAPS_IMPLEMENTATION , class NODE_ANNOTATIONS , class EDGE_ANNOTATIONS >

mrpt::serialization::CArchive& mrpt::graphs::operator>>	(	mrpt::serialization::CArchive &	in,
		CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &	obj
	)

Binary serialization (read) operator "stream >> graph".

Definition at line 982 of file CNetworkOfPoses.h.

References mrpt::graphs::detail::graph_ops< graph_t >::read_graph_of_poses_from_binary_file().