mrpt::pbmap::Subgraph Class Reference

Detailed Description

This class defines a subgraph inside a PbMap. This subgraph represents the entity to be matched in order to recognize a previous place.

Definition at line 34 of file Subgraph.h.

#include <mrpt/pbmap/Subgraph.h>

Public Member Functions
	Subgraph ()
	Subgraph (PbMap *pPbMap, const unsigned &refPlaneId)

Public Attributes
PbMap *	pPBM
std::set< unsigned >	subgraphPlanesIdx

Constructor & Destructor Documentation

Subgraph() [1/2]

mrpt::pbmap::Subgraph::Subgraph ( )

inline

Subgraph constructor with no parameters

Definition at line 38 of file Subgraph.h.

Subgraph() [2/2]

mrpt::pbmap::Subgraph::Subgraph ( PbMap *  pPbMap, const unsigned &  refPlaneId  )

inline

Construct a subgraph, inside a given PbMap, as a set of neighborh planes (1-connected) of a reference plane.

Definition at line 42 of file Subgraph.h.

References pPBM, subgraphPlanesIdx, and mrpt::pbmap::PbMap::vPlanes.

Member Data Documentation

pPBM

PbMap* mrpt::pbmap::Subgraph::pPBM

Definition at line 64 of file Subgraph.h.

Referenced by Subgraph().

subgraphPlanesIdx

std::set<unsigned> mrpt::pbmap::Subgraph::subgraphPlanesIdx

Definition at line 67 of file Subgraph.h.

Referenced by mrpt::pbmap::PbMapLocaliser::compareSubgraphNeighbors(), mrpt::pbmap::SubgraphMatcher::compareSubgraphs(), and Subgraph().