Class PoseGraph¶
Defined in File pose-graph.h
Inheritance Relationships¶
Derived Types¶
public pose_graph::example::PoseGraph
(Class PoseGraph)public vi_map::PoseGraph
(Class PoseGraph)
Class Documentation¶
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class
pose_graph
::
PoseGraph
¶ Subclassed by pose_graph::example::PoseGraph, vi_map::PoseGraph
Public Functions
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PoseGraph
() = default¶
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inline virtual
~PoseGraph
()¶
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void
addVertex
(AlignedUniquePtr<Vertex> vertex)¶
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void
addEdge
(AlignedUniquePtr<Edge> edge)¶
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bool
vertexExists
(const VertexId &n) const¶
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bool
edgeExists
(const EdgeId &e) const¶
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bool
edgeExists
(const VertexId &v1, const VertexId &v2) const¶
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void
getAllVertexIds
(std::vector<VertexId> *vertices) const¶ Get set of node ids.
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void
getAllEdgeIds
(std::vector<EdgeId> *edges) const¶ Get set of edge ids.
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void
removeVertex
(const pose_graph::VertexId &id)¶
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inline size_t
numVertices
() const¶
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inline size_t
numEdges
() const¶
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inline void
clear
()¶
Public Members
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PoseGraph
Protected Types
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typedef std::unordered_map<VertexId, AlignedUniquePtr<Vertex>>
VertexMap
¶
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typedef std::unordered_map<EdgeId, AlignedUniquePtr<Edge>>
EdgeMap
¶
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