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111 lines
3.6 KiB
C++
111 lines
3.6 KiB
C++
/**********************************************************************
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*
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* This source code is part of the Tree-based Network Optimizer (TORO)
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*
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* TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss,
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* Slawomir Grzonka and Wolfram Burgard
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*
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* TORO is licences under the Common Creative License,
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* Attribution-NonCommercial-ShareAlike 3.0
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*
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* You are free:
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* - to Share - to copy, distribute and transmit the work
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* - to Remix - to adapt the work
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*
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* Under the following conditions:
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*
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* - Attribution. You must attribute the work in the manner specified
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* by the author or licensor (but not in any way that suggests that
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* they endorse you or your use of the work).
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*
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* - Noncommercial. You may not use this work for commercial purposes.
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*
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* - Share Alike. If you alter, transform, or build upon this work,
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* you may distribute the resulting work only under the same or
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* similar license to this one.
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*
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* Any of the above conditions can be waived if you get permission
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* from the copyright holder. Nothing in this license impairs or
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* restricts the author's moral rights.
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*
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* TORO is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE.
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**********************************************************************/
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/** \file posegraph2.hh
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*
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* \brief Defines the graph of 2D poses, with specific functionalities
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* such as loading, saving, merging constraints, and etc.
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**/
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#ifndef _POSEGRAPH2_HH_
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#define _POSEGRAPH2_HH_
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#include "posegraph.hh"
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#include "transformation2.hh"
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#include <iostream>
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#include <vector>
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namespace AISNavigation {
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/** \brief The class (struct) that contains 2D graph related functions
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such as loading, saving, merging, etc. **/
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struct TreePoseGraph2: public TreePoseGraph< Operations2D<double> >{
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typedef Operations2D<double>::PoseType Pose;
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typedef Operations2D<double>::RotationType Rotation;
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typedef Operations2D<double>::TranslationType Translation;
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typedef Operations2D<double>::TransformationType Transformation;
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typedef Operations2D<double>::CovarianceType CovarianceMatrix;
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typedef Operations2D<double>::InformationType InformationMatrix;
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/** Load a graph from a file ignoring the equivalence constraints
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@param filename the graph file
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@param overrideCovariances ignore the covariances from the file, and use identities instead
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**/
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bool load( const char* filename, bool overrideCovariances=false);
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/** Load only the equivalence constraints from a graph file (call load before) **/
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bool loadEquivalences( const char* filename);
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/** Saves the graph in the graph-format**/
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bool save( const char* filename);
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/** Saved the graph for visualizing it using gnuplot **/
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bool saveGnuplot( const char* filename);
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/** Debug function **/
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void printDepth( std::ostream& os );
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/** Debug function **/
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void printWidth( std::ostream& os );
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/** Debug function **/
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void printEdgesStat( std::ostream& os);
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void initializeOnTree();
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/** Turn around the edge (<i,j> => <j,i>) **/
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virtual void revertEdgeInfo(Edge* e);
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virtual void initializeFromParentEdge(Vertex* v);
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/** Function to compress a graph. Needed if, for example, equivalence
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constraints are used to build a graoh structure with indices
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without gaps. **/
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virtual void collapseEdge(Edge* e);
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/** Specifies the verbose level for debugging **/
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int verboseLevel;
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};
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}; //namespace AISNavigation
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#endif
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