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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1poses.html">poses</a>::<a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html">CNetworkOfPoses</a>
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<h1>mrpt::poses::CNetworkOfPoses< CPOSE > Class Template Reference</h1><!-- doxytag: class="mrpt::poses::CNetworkOfPoses" --><!-- doxytag: inherits="CDirectedGraph< CPOSE >" -->
<p>A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t).
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_network_of_poses_8h_source.html">mrpt/poses/CNetworkOfPoses.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CNetworkOfPoses< CPOSE >:</div>
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<div class="center"><img src="classmrpt_1_1poses_1_1_c_network_of_poses__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_inherit__map" id="mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1math_1_1_c_directed_graph.html" title="mrpt::math::CDirectedGraph\< CPOSE \>" alt="" coords="16,5,275,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::poses::CNetworkOfPoses< CPOSE >:</div>
<div class="dynsection">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_network_of_poses__coll__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_coll__map" id="mrpt_1_1poses_1_1_c_network_of_poses_3_01_c_p_o_s_e_01_4_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1math_1_1_c_directed_graph.html" title="mrpt::math::CDirectedGraph\< CPOSE \>" alt="" coords="27,101,285,131"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_network_of_poses-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2>Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef CPOSE </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html#a1cd2fc3b50c46c7a0dd3f75700e56e53">type_poses</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of PDF poses on the network links. <a href="#a1cd2fc3b50c46c7a0dd3f75700e56e53"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::map< size_t, CPOSE > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html#a60670e9df047b821ecb5a54a2b394a8a">type_global_poses</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A map of pose IDs to their global coordinates - can be used as second parameter of optimizePoseGraph_levmarq. <a href="#a60670e9df047b821ecb5a54a2b394a8a"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<h3>template<class CPOSE><br/>
class mrpt::poses::CNetworkOfPoses< CPOSE ></h3>
<p>A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t). </p>
<p>A link between nodes "i" and "j", that is, the pose <img class="formulaInl" alt="$ p_{ij} $" src="form_62.png"/> or relative position of "j" with respect to "i", is maintained as a multivariate Gaussian distribution.</p>
<p>Valid values for the argument CPOSE are <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose...">CPosePDFGaussian</a> and <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose...">CPose3DPDFGaussian</a>, which correspond to the typedefs CNetworkOfPoses2D and CNetworkOfPoses3D.</p>
<p>Access to all the links can be done through normal std::map methods, plus the new method "insertLink"</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose...">CPosePDFGaussian</a>,<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose...">CPose3DPDFGaussian</a>,<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose...">CPose3DQuatPDFGaussian</a>, <a class="el" href="namespacemrpt_1_1slam.html#ad9e74b1d896969bb39854896dea265ff" title="An algorithm for optimizing a network of 2D or 3D pose links based on Levenberg-Marquardt...">mrpt::slam::optimizePoseGraph_levmarq</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_network_of_poses_8h_source.html#l00051">51</a> of file <a class="el" href="_c_network_of_poses_8h_source.html">CNetworkOfPoses.h</a>.</p>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a60670e9df047b821ecb5a54a2b394a8a"></a><!-- doxytag: member="mrpt::poses::CNetworkOfPoses::type_global_poses" ref="a60670e9df047b821ecb5a54a2b394a8a" args="" -->
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template<class CPOSE > </div>
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<td class="memname">typedef std::map<size_t,CPOSE> <a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html">mrpt::poses::CNetworkOfPoses</a>< CPOSE >::<a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html#a60670e9df047b821ecb5a54a2b394a8a">type_global_poses</a></td>
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<p>A map of pose IDs to their global coordinates - can be used as second parameter of optimizePoseGraph_levmarq. </p>
<p>Definition at line <a class="el" href="_c_network_of_poses_8h_source.html#l00055">55</a> of file <a class="el" href="_c_network_of_poses_8h_source.html">CNetworkOfPoses.h</a>.</p>
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<a class="anchor" id="a1cd2fc3b50c46c7a0dd3f75700e56e53"></a><!-- doxytag: member="mrpt::poses::CNetworkOfPoses::type_poses" ref="a1cd2fc3b50c46c7a0dd3f75700e56e53" args="" -->
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template<class CPOSE > </div>
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<td class="memname">typedef CPOSE <a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html">mrpt::poses::CNetworkOfPoses</a>< CPOSE >::<a class="el" href="classmrpt_1_1poses_1_1_c_network_of_poses.html#a1cd2fc3b50c46c7a0dd3f75700e56e53">type_poses</a></td>
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<p>The type of PDF poses on the network links. </p>
<p>Definition at line <a class="el" href="_c_network_of_poses_8h_source.html#l00054">54</a> of file <a class="el" href="_c_network_of_poses_8h_source.html">CNetworkOfPoses.h</a>.</p>
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