mrpt::poses::CNetworkOfPoses< CPOSE > Class Template Reference

A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t). More...

#include <mrpt/poses/CNetworkOfPoses.h>

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List of all members.

Public Types
typedef CPOSE	type_poses
	The type of PDF poses on the network links.
typedef std::map< size_t, CPOSE >	type_global_poses
	A map of pose IDs to their global coordinates - can be used as second parameter of optimizePoseGraph_levmarq.

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Detailed Description

template<class CPOSE>
class mrpt::poses::CNetworkOfPoses< CPOSE >

A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t).

A link between nodes "i" and "j", that is, the pose or relative position of "j" with respect to "i", is maintained as a multivariate Gaussian distribution.

Valid values for the argument CPOSE are CPosePDFGaussian and CPose3DPDFGaussian, which correspond to the typedefs CNetworkOfPoses2D and CNetworkOfPoses3D.

Access to all the links can be done through normal std::map methods, plus the new method "insertLink"

See also:

CPosePDFGaussian,CPose3DPDFGaussian,CPose3DQuatPDFGaussian, mrpt::slam::optimizePoseGraph_levmarq

Definition at line 51 of file CNetworkOfPoses.h.

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Member Typedef Documentation

template<class CPOSE >

typedef std::map<size_t,CPOSE> mrpt::poses::CNetworkOfPoses< CPOSE >::type_global_poses

A map of pose IDs to their global coordinates - can be used as second parameter of optimizePoseGraph_levmarq.

Definition at line 55 of file CNetworkOfPoses.h.

template<class CPOSE >

typedef CPOSE mrpt::poses::CNetworkOfPoses< CPOSE >::type_poses

The type of PDF poses on the network links.

Definition at line 54 of file CNetworkOfPoses.h.