TORO Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

CompressedNodesMarker< TPG >	A class (struct) to dermine the level of a vertex in the tree
EVComparator< E >	A comparator class (struct) that compares the level of two vertices if edges
IdPrinter	A class (struct) used to print vertex information to a stream. Needed for debugging
LevelAssigner< TPG >	A class (struct) to dermine the level of a vertex in the tree
NodeInfo
Operations2D< T >	Tenmplate class to define the operations in 2D
Operations3D< T >
ParameterPropagator	A class (struct) to compute the parameterization of the vertex v
Pose2< T >	2D Point (x,y) with orientation (theta)
Pose3< T >
PosePropagator	A class (struct) for realizing the pose update of the individual nodes. Assumes the correct order of constraint updates (according to the tree level, see RSS07 paper)
Quaternion< T >
SMatrix3< T >	A class to represent symmetric 3x3 matrices
Transformation2< T >	A class to represent 2D transformations (rotation and translation)
Transformation3< T >
TransformationPropagator	A class (struct) to compute the parameterization of the vertex v
TreeOptimizer2	Class that contains the core optimization algorithm
TreeOptimizer3	Class that contains the core optimization algorithm
TreeOptimizer3::PM_t
TreePoseGraph< Ops >	The template class for representing an abstract tree without specifing the dimensionality of the exact parameterization of the nodes. This definition is passed in via the Operation (Ops) template class
TreePoseGraph2	The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc
TreePoseGraph< Ops >::Edge	Definition of an edge in the graph based on the template input from Ops
TreePoseGraph< Ops >::Vertex	Definition of a vertex in the graph based on the template input from Ops
Vector2< T >	Template class for representing a 2D point (x and y coordinate)
Vector3< T >

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