Point Cloud Library (PCL)
1.11.0
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GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfill the following boost::graph concepts: More...
#include <pcl/registration/graph_handler.h>
Public Types | |
using | Ptr = shared_ptr< GraphHandler< GraphT > > |
using | ConstPtr = shared_ptr< const GraphHandler< GraphT > > |
using | GraphPtr = shared_ptr< GraphT > |
using | GraphConstPtr = shared_ptr< const GraphT > |
using | Vertex = typename boost::graph_traits< GraphT >::vertex_descriptor |
using | Edge = typename boost::graph_traits< GraphT >::edge_descriptor |
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 fulfill 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 81 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::ConstPtr = shared_ptr<const GraphHandler<GraphT> > |
Definition at line 85 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::Edge = typename boost::graph_traits<GraphT>::edge_descriptor |
Definition at line 90 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::GraphConstPtr = shared_ptr<const GraphT> |
Definition at line 87 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::GraphPtr = shared_ptr<GraphT> |
Definition at line 86 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::Ptr = shared_ptr<GraphHandler<GraphT> > |
Definition at line 84 of file graph_handler.h.
using pcl::registration::GraphHandler< GraphT >::Vertex = typename boost::graph_traits<GraphT>::vertex_descriptor |
Definition at line 89 of file graph_handler.h.
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Empty constructor.
Definition at line 93 of file graph_handler.h.
References pcl::registration::GraphHandler< GraphT >::init().
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Destructor.
Definition at line 100 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 171 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 145 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 135 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 158 of file graph_handler.h.
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Clear the graph.
Definition at line 107 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 204 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 117 of file graph_handler.h.
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Get a pointer to the BGL graph.
Definition at line 124 of file graph_handler.h.
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inlineprotected |
This method is called right after the creation of graph_impl_.
Definition at line 197 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 189 of file graph_handler.h.
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Remove a vertex from the graph.
v | the vertex |
Definition at line 180 of file graph_handler.h.