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mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor Struct Referenceabstract

Detailed Description

Base class for user-supplied objects capable of describing voxels connectivity, used to build prior factors of the MRF graph.

See also
setvoxelsConnectivity()

Definition at line 174 of file CRandomFieldGridMap3D.h.

#include <mrpt/maps/CRandomFieldGridMap3D.h>

Public Types

using Ptr = std::shared_ptr< ConnectivityDescriptor >
 

Public Member Functions

virtual ~ConnectivityDescriptor ()
 
virtual bool getEdgeInformation (const CRandomFieldGridMap3D *parent, size_t icx, size_t icy, size_t icz, size_t jcx, size_t jcy, size_t jcz, double &out_edge_information)=0
 Implement the check of whether node i=(icx,icy,icz) is connected with node j=(jcx,jcy,jcy). More...
 

Member Typedef Documentation

◆ Ptr

Definition at line 176 of file CRandomFieldGridMap3D.h.

Constructor & Destructor Documentation

◆ ~ConnectivityDescriptor()

virtual mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::~ConnectivityDescriptor ( )
inlinevirtual

Definition at line 178 of file CRandomFieldGridMap3D.h.

Member Function Documentation

◆ getEdgeInformation()

virtual bool mrpt::maps::CRandomFieldGridMap3D::ConnectivityDescriptor::getEdgeInformation ( const CRandomFieldGridMap3D parent,
size_t  icx,
size_t  icy,
size_t  icz,
size_t  jcx,
size_t  jcy,
size_t  jcz,
double &  out_edge_information 
)
pure virtual

Implement the check of whether node i=(icx,icy,icz) is connected with node j=(jcx,jcy,jcy).

This visitor method will be called only for immediate neighbors.

Returns
true if connected (and the "information" value should be also updated in out_edge_information), false otherwise.
Parameters
parentThe parent map on which we are running
icx(cx,cy,cz) for node "i"
jcx(cx,cy,cz) for node "j"
out_edge_informationMust output here the inverse of the variance of the constraint edge.

Referenced by mrpt::maps::CRandomFieldGridMap3D::internal_initialize().




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