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mrpt::graphslam::graphslam_traits< GRAPH_T > Struct Template Reference

Detailed Description

template<class GRAPH_T>
struct mrpt::graphslam::graphslam_traits< GRAPH_T >

Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names.

Template Parameters
GRAPH_TThis will typically be any mrpt::graphs::CNetworkOfPoses<...>

Definition at line 32 of file graphslam/include/mrpt/graphslam/types.h.

#include <mrpt/graphslam/types.h>

Classes

struct  observation_info_t
 Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account. More...
 

Public Types

using graph_t = GRAPH_T
 Typ: mrpt::graphs::CNetworkOfPoses<...> More...
 
using edge_const_iterator = typename graph_t::edges_map_t::const_iterator
 
using edge_t = typename graph_t::constraint_t
 
using edge_poses_type = typename edge_t::type_value
 
using SE_TYPE = mrpt::poses::SE_traits< edge_poses_type::rotation_dimensions >
 
using matrix_VxV_t = typename SE_TYPE::matrix_VxV_t
 
using Array_O = typename SE_TYPE::array_t
 
using TPairJacobs = std::pair< matrix_VxV_t, matrix_VxV_t >
 
using map_pairIDs_pairJacobs_t = mrpt::aligned_std_multimap< mrpt::graphs::TPairNodeIDs, TPairJacobs >
 
using TFunctorFeedback = std::function< void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)>
 

Member Typedef Documentation

◆ Array_O

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::Array_O = typename SE_TYPE::array_t

Definition at line 42 of file graphslam/include/mrpt/graphslam/types.h.

◆ edge_const_iterator

Definition at line 36 of file graphslam/include/mrpt/graphslam/types.h.

◆ edge_poses_type

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_poses_type = typename edge_t::type_value

Definition at line 38 of file graphslam/include/mrpt/graphslam/types.h.

◆ edge_t

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::edge_t = typename graph_t::constraint_t

Definition at line 37 of file graphslam/include/mrpt/graphslam/types.h.

◆ graph_t

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::graph_t = GRAPH_T

Typ: mrpt::graphs::CNetworkOfPoses<...>

Definition at line 35 of file graphslam/include/mrpt/graphslam/types.h.

◆ map_pairIDs_pairJacobs_t

Definition at line 47 of file graphslam/include/mrpt/graphslam/types.h.

◆ matrix_VxV_t

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::matrix_VxV_t = typename SE_TYPE::matrix_VxV_t

Definition at line 41 of file graphslam/include/mrpt/graphslam/types.h.

◆ SE_TYPE

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::SE_TYPE = mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions>

Definition at line 40 of file graphslam/include/mrpt/graphslam/types.h.

◆ TFunctorFeedback

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::TFunctorFeedback = std::function<void( const GRAPH_T& graph, const size_t iter, const size_t max_iter, const double cur_sq_error)>

Definition at line 63 of file graphslam/include/mrpt/graphslam/types.h.

◆ TPairJacobs

template<class GRAPH_T>
using mrpt::graphslam::graphslam_traits< GRAPH_T >::TPairJacobs = std::pair<matrix_VxV_t, matrix_VxV_t>

Definition at line 45 of file graphslam/include/mrpt/graphslam/types.h.




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