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

class pose_graph::PoseGraph

Subclassed by pose_graph::example::PoseGraph, vi_map::PoseGraph

Public Functions

PoseGraph() = default

inline virtual ~PoseGraph()

void swap(PoseGraph *other)

void addVertex(AlignedUniquePtr<Vertex> vertex)

void addEdge(AlignedUniquePtr<Edge> edge)

bool vertexExists(const VertexId &n) const

bool edgeExists(const EdgeId &e) const

bool edgeExists(const VertexId &v1, const VertexId &v2) const

void getAllVertexIds(std::vector<VertexId> *vertices) const

Get set of node ids.

void getAllEdgeIds(std::vector<EdgeId> *edges) const

Get set of edge ids.

const Vertex &getVertex(const VertexId &id) const

const Edge &getEdge(const EdgeId &id) const

Vertex &getVertexMutable(const VertexId &id)

Edge &getEdgeMutable(const EdgeId &id)

Vertex *getVertexPtrMutable(const VertexId &id)

Edge *getEdgePtrMutable(const EdgeId &id)

const Vertex *getVertexPtr(const VertexId &id) const

const Edge *getEdgePtr(const EdgeId &id) const

EdgeMap::iterator removeEdge(const pose_graph::EdgeId &id)

void removeVertex(const pose_graph::VertexId &id)

template<pose_graph::Edge::EdgeType edge_type>
size_t removeEdgesOfType()

inline size_t numVertices() const

inline size_t numEdges() const

inline void clear()

Public Members

PoseGraph

Protected Types

typedef std::unordered_map<VertexId, AlignedUniquePtr<Vertex>> VertexMap

typedef std::unordered_map<EdgeId, AlignedUniquePtr<Edge>> EdgeMap

Protected Attributes

VertexMap vertices_

EdgeMap edges_