CNetworkOfPoses.h File Reference

#include <iostream>
#include <mrpt/graphs/CDirectedGraph.h>
#include <mrpt/graphs/CDirectedTree.h>
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/system/TParameters.h>
#include <mrpt/containers/traits_map.h>
#include <mrpt/serialization/stl_serialization.h>
#include <mrpt/math/utils.h>
#include <mrpt/poses/poses_frwds.h>
#include <mrpt/system/os.h>
#include <mrpt/opengl/CSetOfObjects.h>
#include <mrpt/graphs/dijkstra.h>
#include <mrpt/graphs/TNodeAnnotations.h>
#include <mrpt/graphs/TMRSlamNodeAnnotations.h>
#include <mrpt/graphs/THypothesis.h>
#include <iterator>
#include <algorithm>
#include <type_traits>
#include <memory>
#include "CNetworkOfPoses_impl.h"
#include <mrpt/graphs/CVisualizer.h>
#include <mrpt/graphs/CMRVisualizer.h>

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Classes
struct	mrpt::graphs::detail::graph_ops< graph_t >
	a helper struct with static template functions More...
class	mrpt::graphs::detail::CVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
	Base class for C*Visualizer classes. More...
class	mrpt::graphs::detail::CMRVisualizer< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
	Wrapper class that provides visualization of a network of poses that have been registered by many graphSLAM agents/robots. More...
class	mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >
	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...
struct	mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS >::global_pose_t
	The type of each global pose in nodes: an extension of the constraint_no_pdf_t pose with any optional user-defined data. More...

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::graphs
	Abstract graph and tree data structures, plus generic graph algorithms.
	mrpt::graphs::detail
	Internal functions for MRPT.
	mrpt::typemeta

Typedefs
Handy typedefs for CNetworkOfPoses commonly used types
using	mrpt::graphs::CNetworkOfPoses2D = CNetworkOfPoses< mrpt::poses::CPose2D, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3D = CNetworkOfPoses< mrpt::poses::CPose3D, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses2DCov = CNetworkOfPoses< mrpt::poses::CPosePDFGaussian, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3DCov = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussian, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses2DInf = CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3DInf = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...
using	mrpt::graphs::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	mrpt::graphs::CNetworkOfPoses3DInf_NA = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap, mrpt::graphs::detail::TMRSlamNodeAnnotations >
Handy typedefs for CNetworkOfPoses commonly used types
using	mrpt::graphs::CNetworkOfPoses2D = CNetworkOfPoses< mrpt::poses::CPose2D, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3D = CNetworkOfPoses< mrpt::poses::CPose3D, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type mrpt::poses::CPose3D (not a PDF!), also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses2DCov = CNetworkOfPoses< mrpt::poses::CPosePDFGaussian, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3DCov = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussian, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses2DInf = CNetworkOfPoses< mrpt::poses::CPosePDFGaussianInf, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...
using	mrpt::graphs::CNetworkOfPoses3DInf = CNetworkOfPoses< mrpt::poses::CPose3DPDFGaussianInf, mrpt::containers::map_traits_stdmap >
	The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...
using	mrpt::graphs::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	mrpt::graphs::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 &	mrpt::graphs::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 &	mrpt::graphs::operator>> (mrpt::serialization::CArchive &in, CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > &obj)
	Binary serialization (read) operator "stream >> graph". More...