template struct mrpt::graphs::detail::THypothesis

Overview

Represents a hypothesis (potential edge) between two nodes in a graph, used by the graphslam-engine infrastructure.

#include <mrpt/graphs/THypothesis.h>

template <class GRAPH_T>
struct THypothesis
{
    // typedefs

    typedef typename GRAPH_T::constraint_t constraint_t;

    // fields

    TNodeID from {0};
    TNodeID to {0};
    int id {0};
    bool is_valid {true};
    double goodness {0.0};

    // methods

    void setEdge(const constraint_t& edge);
    const constraint_t& getEdge() const;

    bool hasEnds(
        TNodeID a,
        TNodeID b
        ) const;

    std::string getAsString(bool oneline = false) const;
};