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36 template <
class GRAPH_T>
44 using pose_t =
typename constraint_t::type_value;
void setEdge(const constraint_t &edge)
Setter method for the underlying edge.
constraint_t getInverseEdge() const
bool hasEnds(const mrpt::graphs::TNodeID from, const mrpt::graphs::TNodeID to) const
Check if the start, end nodes are the ones given.
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
An edge hypothesis between two nodeIDs.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::string getAsString(bool oneline=true) const
Return a string representation of the object at hand.
bool sameEndsWith(const self_t &other) const
Compare the start and end nodes of two hypothesis.
friend std::ostream & operator<<(std::ostream &o, const THypothesis< GRAPH_T > &h)
size_t id
ID of the current hypothesis.
~THypothesis()
Destructor.
typename constraint_t::type_value pose_t
type of underlying poses (2D/3D).
bool operator<(const self_t &other) const
Handy operator for using THypothesis in std::set.
THypothesis()
Constructor.
mrpt::graphs::TNodeID to
Ending node of the hypothesis.
mrpt::graphs::TNodeID from
Starting node of the hypothesis.
void inverseHypothesis()
Reverse the hypothesis.
constraint_t getEdge() const
GLsizei const GLchar ** string
bool is_valid
Field that specifies if the hypothesis is to be considered.
double goodness
Goodness value corresponding to the hypothesis edge.
typename GRAPH_T::constraint_t constraint_t
Handy typedefs.
constraint_t edge
Edge connecting the two nodes.
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