Point Cloud Library (PCL)
1.8.0
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GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts: More...
#include <pcl/registration/graph_handler.h>
Public Types | |
typedef boost::shared_ptr< GraphHandler< GraphT > > | Ptr |
typedef boost::shared_ptr< const GraphHandler< GraphT > > | ConstPtr |
typedef boost::shared_ptr< GraphT > | GraphPtr |
typedef boost::shared_ptr< const GraphT > | GraphConstPtr |
typedef boost::graph_traits< GraphT >::vertex_descriptor | Vertex |
typedef boost::graph_traits< GraphT >::edge_descriptor | Edge |
Public Member Functions | |
GraphHandler () | |
Empty constructor. More... | |
~GraphHandler () | |
Destructor. More... | |
void | clear () |
Clear the graph. More... | |
GraphConstPtr | getGraph () const |
Get a pointer to the BGL graph. More... | |
GraphPtr | getGraph () |
Get a pointer to the BGL graph. More... | |
template<class PointT > | |
Vertex | addPointCloud (const typename pcl::PointCloud< PointT >::ConstPtr &cloud, const Eigen::Matrix4f &pose) |
Add a new point cloud to the graph and return the new vertex. More... | |
template<class EstimateT > | |
Vertex | addGenericVertex (const EstimateT &estimate) |
Add a new generic vertex created according to the given estimate. More... | |
template<class InformationT > | |
Edge | addPoseConstraint (const Vertex &v_start, const Vertex &v_end, const Eigen::Matrix4f &relative_transformation, const InformationT &information_matrix) |
Add a new constraint between two poses. More... | |
template<class MeasurementT > | |
Edge | addGenericConstraint (const MeasurementT &measurement) |
Add a generic constraint created according to the given measurement. More... | |
void | removeVertex (const Vertex &v) |
Remove a vertex from the graph. More... | |
void | removeConstraint (const Edge &e) |
Remove a constraint from the graph. More... | |
Protected Member Functions | |
bool | init () |
This method is called right after the creation of graph_impl_. More... | |
bool | deinit () |
This method is called when graph_impl_ is going to be destroyed. More... | |
GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts:
Other valid expressions:
If a specific graph implementation needs initialization and/or finalization, specialize the protected methods init() and deinit() for your graph type
Definition at line 82 of file graph_handler.h.
typedef boost::shared_ptr<const GraphHandler<GraphT> > pcl::registration::GraphHandler< GraphT >::ConstPtr |
Definition at line 86 of file graph_handler.h.
typedef boost::graph_traits<GraphT>::edge_descriptor pcl::registration::GraphHandler< GraphT >::Edge |
Definition at line 91 of file graph_handler.h.
typedef boost::shared_ptr<const GraphT> pcl::registration::GraphHandler< GraphT >::GraphConstPtr |
Definition at line 88 of file graph_handler.h.
typedef boost::shared_ptr<GraphT> pcl::registration::GraphHandler< GraphT >::GraphPtr |
Definition at line 87 of file graph_handler.h.
typedef boost::shared_ptr<GraphHandler<GraphT> > pcl::registration::GraphHandler< GraphT >::Ptr |
Definition at line 85 of file graph_handler.h.
typedef boost::graph_traits<GraphT>::vertex_descriptor pcl::registration::GraphHandler< GraphT >::Vertex |
Definition at line 90 of file graph_handler.h.
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Empty constructor.
Definition at line 94 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::init().
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Destructor.
Definition at line 101 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::deinit().
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Add a generic constraint created according to the given measurement.
measurement | the measurement |
Definition at line 172 of file graph_handler.h.
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Add a new generic vertex created according to the given estimate.
estimate | the parameters' estimate |
Definition at line 146 of file graph_handler.h.
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Add a new point cloud to the graph and return the new vertex.
cloud | the new point cloud |
pose | the pose estimate |
Definition at line 136 of file graph_handler.h.
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Add a new constraint between two poses.
v_start | the first pose |
v_end | the second pose |
relative_transformation | the transformation from v_start to v_end |
information_matrix | the uncertainty |
Definition at line 159 of file graph_handler.h.
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inline |
Clear the graph.
Definition at line 108 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::deinit(), and pcl::registration::GraphHandler< GraphT >::init().
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inlineprotected |
This method is called when graph_impl_ is going to be destroyed.
Definition at line 205 of file graph_handler.h.
Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::~GraphHandler().
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Get a pointer to the BGL graph.
Definition at line 118 of file graph_handler.h.
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Get a pointer to the BGL graph.
Definition at line 125 of file graph_handler.h.
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inlineprotected |
This method is called right after the creation of graph_impl_.
Definition at line 198 of file graph_handler.h.
Referenced by pcl::registration::GraphHandler< GraphT >::clear(), and pcl::registration::GraphHandler< GraphT >::GraphHandler().
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Remove a constraint from the graph.
e | the edge |
Definition at line 190 of file graph_handler.h.
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Remove a vertex from the graph.
v | the vertex |
Definition at line 181 of file graph_handler.h.