TreePoseGraph2 Struct Reference

Inheritance diagram for TreePoseGraph2:

[legend]Collaboration diagram for TreePoseGraph2:

[legend]List of all members.

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Detailed Description

The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.

Definition at line 56 of file posegraph2.hh.

Public Types
typedef Operations2D< double >::PoseType	Pose
typedef Operations2D< double >::RotationType	Rotation
typedef Operations2D< double >::TranslationType	Translation
typedef Operations2D< double >::TransformationType	Transformation
typedef Operations2D< double >::CovarianceType	CovarianceMatrix
typedef Operations2D< double >::InformationType	InformationMatrix
Public Member Functions
bool	load (const char *filename, bool overrideCovariances=false)
bool	loadEquivalences (const char *filename)
bool	save (const char *filename)
bool	saveGnuplot (const char *filename)
void	printDepth (std::ostream &os)
void	printWidth (std::ostream &os)
void	printEdgesStat (std::ostream &os)
void	initializeOnTree ()
virtual void	revertEdgeInfo (Edge *e)
virtual void	initializeFromParentEdge (Vertex *v)
virtual void	collapseEdge (Edge *e)
Public Attributes
int	verboseLevel

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Member Function Documentation

bool TreePoseGraph2::load	(	const char *	filename,
		bool	overrideCovariances = false
	)

Load a graph from a file ignoring the equivalence constraints

Parameters:

	filename	the graph file
	overrideCovariances	ignore the covariances from the file, and use identities instead

Definition at line 58 of file posegraph2.cpp.

bool TreePoseGraph2::loadEquivalences

(

const char *

filename

)

Load only the equivalence constraints from a graph file (call load before)

Definition at line 105 of file posegraph2.cpp.

bool TreePoseGraph2::save

(

const char *

filename

)

Saves the graph in the graph-format

Definition at line 156 of file posegraph2.cpp.

bool TreePoseGraph2::saveGnuplot

(

const char *

filename

)

Saved the graph for visualizing it using gnuplot

Definition at line 138 of file posegraph2.cpp.

void TreePoseGraph2::printDepth

(

std::ostream &

os

)

Debug function

Definition at line 194 of file posegraph2.cpp.

void TreePoseGraph2::printWidth

(

std::ostream &

os

)

Debug function

Definition at line 199 of file posegraph2.cpp.

void TreePoseGraph2::printEdgesStat

(

std::ostream &

os

)

Debug function

Definition at line 234 of file posegraph2.cpp.

void TreePoseGraph2::revertEdgeInfo

(

Edge *

e

)

[virtual]

Turn around the edge (<i,j> => <j,i>)

Implements TreePoseGraph< Operations2D< double > >.

Definition at line 250 of file posegraph2.cpp.

void TreePoseGraph2::initializeFromParentEdge

(

Vertex *

v

)

[virtual]

Revert edge info. This function needs to be implemented by a subclass

Implements TreePoseGraph< Operations2D< double > >.

Definition at line 279 of file posegraph2.cpp.

void TreePoseGraph2::collapseEdge

(

Edge *

e

)

[virtual]

Function to compress a graph. Needed if, for example, equivalence constraints are used to build a graoh structure with indices without gaps.

Definition at line 290 of file posegraph2.cpp.

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Member Data Documentation

int TreePoseGraph2::verboseLevel

Specifies the verbose level for debugging

Definition at line 102 of file posegraph2.hh.

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The documentation for this struct was generated from the following files:

• posegraph2.hh
• posegraph2.cpp

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