<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>types.h Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
<div class="header">
<div class="headertitle">
<div class="title">types.h</div> </div>
</div>
<div class="contents">
<a href="graphslam_2include_2mrpt_2graphslam_2types_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef GRAPH_SLAM_TYPES_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define GRAPH_SLAM_TYPES_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_network_of_poses_8h.html">mrpt/graphs/CNetworkOfPoses.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_s_e__traits_8h.html">mrpt/poses/SE_traits.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="graphslam_2include_2mrpt_2graphslam_2link__pragmas_8h.html">mrpt/graphslam/link_pragmas.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {<span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"> /** SLAM methods related to graphs of pose constraints</span>
<a name="l00039"></a>00039 <span class="comment"> * \sa mrpt::graphs::CNetworkOfPoses \ingroup mrpt_graphslam_grp</span>
<a name="l00040"></a>00040 <span class="comment"> */</span>
<a name="l00041"></a>00041 <span class="keyword">namespace </span>graphslam
<a name="l00042"></a>00042 {<span class="comment"></span>
<a name="l00043"></a>00043 <span class="comment"> /** \addtogroup mrpt_graphslam_grp</span>
<a name="l00044"></a>00044 <span class="comment"> * @{ */</span>
<a name="l00045"></a>00045 <span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names</span>
<a name="l00047"></a>00047 <span class="comment"> * \tparam GRAPH_T This will typically be any mrpt::graphs::CNetworkOfPoses<...></span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a>00049 <span class="keyword">template</span> <<span class="keyword">class</span> GRAPH_T>
<a name="l00050"></a>00050 <span class="keyword">struct </span>graphslam_traits
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="comment">//typedef mrpt::graphs::CNetworkOfPoses<EDGE_TYPE,MAPS_IMPLEMENTATION> graph_t;</span>
<a name="l00053"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#acbad9fe205bae2c56612ba473f090e54">00053</a> <span class="keyword">typedef</span> GRAPH_T <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#acbad9fe205bae2c56612ba473f090e54">graph_t</a>;
<a name="l00054"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a631823219821936a162e714768837c7b">00054</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#acbad9fe205bae2c56612ba473f090e54">graph_t</a><a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">::edges_map_t::const_iterator</a> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a631823219821936a162e714768837c7b">edge_const_iterator</a>;
<a name="l00055"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a559fdac3fb20a2c30614ea49b440eb8d">00055</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#acbad9fe205bae2c56612ba473f090e54">graph_t</a>::constraint_t <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a559fdac3fb20a2c30614ea49b440eb8d">edge_t</a>;
<a name="l00056"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a7270661ba6e44b6bcd21fe0f2a0863c9">00056</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a559fdac3fb20a2c30614ea49b440eb8d">edge_t</a>::type_value <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a7270661ba6e44b6bcd21fe0f2a0863c9">edge_poses_type</a>;
<a name="l00057"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a84981c9e7fca0ad6caf182a50b3509a0">00057</a> <span class="keyword">typedef</span> mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a84981c9e7fca0ad6caf182a50b3509a0">SE_TYPE</a>;
<a name="l00058"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a8d64600cc1ed349e4ca91dc630e95210">00058</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a84981c9e7fca0ad6caf182a50b3509a0">SE_TYPE</a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a8d64600cc1ed349e4ca91dc630e95210">::matrix_VxV_t</a> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a8d64600cc1ed349e4ca91dc630e95210">matrix_VxV_t</a>;
<a name="l00059"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a832ab9b007f030ff0b46a146959df933">00059</a> <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a84981c9e7fca0ad6caf182a50b3509a0">SE_TYPE</a>::array_t <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a832ab9b007f030ff0b46a146959df933">Array_O</a>; <span class="comment">// An array of the correct size for an "observation" (i.e. a relative pose in an edge)</span>
<a name="l00060"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a6072e5d22d2564941ded09a3a38c01e4">00060</a> <span class="keyword">typedef</span> std::pair<matrix_VxV_t,matrix_VxV_t> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a6072e5d22d2564941ded09a3a38c01e4">TPairJacobs</a>;
<a name="l00061"></a>00061 <span class="keyword">typedef</span> <span class="keyword">typename</span> mrpt<a class="code" href="structmrpt_1_1aligned__containers.html" title="Helper types for STL containers with Eigen memory allocators.">::aligned_containers</a><
<a name="l00062"></a>00062 mrpt<a class="code" href="namespacemrpt_1_1utils.html#aee71d7beb4d61406566af3847410d0e4" title="A pair of node IDs.">::utils::TPairNodeIDs</a>,
<a name="l00063"></a>00063 <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a6072e5d22d2564941ded09a3a38c01e4">TPairJacobs</a>
<a name="l00064"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a337672944d13893fde94d10c148d055e">00064</a> >::map_t <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a337672944d13893fde94d10c148d055e">map_pairIDs_pairJacobs_t</a>;
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account. */</span>
<a name="l00067"></a>00067 <span class="keyword">struct </span><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html" title="Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...">observation_info_t</a>
<a name="l00068"></a>00068 {
<a name="l00069"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#ad1cff4298afef60f1f4b516ef7bfa09a">00069</a> <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html" title="Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...">graphslam_traits<GRAPH_T></a> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#ad1cff4298afef60f1f4b516ef7bfa09a">gst</a>;
<a name="l00070"></a>00070 <span class="comment">// Data:</span>
<a name="l00071"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a067ff302a51560a73d1313cee89b8176">00071</a> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html" title="Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...">gst</a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a631823219821936a162e714768837c7b">::edge_const_iterator</a> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a067ff302a51560a73d1313cee89b8176">edge</a>;
<a name="l00072"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a8e1cd62e8ceee5b8cf766cdd18ce485b">00072</a> <span class="keyword">const</span> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html" title="Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...">gst</a>::graph_t::constraint_t::type_value *<a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a8e1cd62e8ceee5b8cf766cdd18ce485b">edge_mean</a>;
<a name="l00073"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a483b689dddb36f50f85430c7b0fe94e0">00073</a> <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html" title="Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...">gst</a>::graph_t::constraint_t::type_value *<a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a404ef6ad42eab7a9f572cb4b4376e83d">P1</a>,*<a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html#a483b689dddb36f50f85430c7b0fe94e0">P2</a>;
<a name="l00074"></a>00074 };
<a name="l00075"></a>00075
<a name="l00076"></a><a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a770b780bfca122b3510067162f4c9b21">00076</a> <span class="keyword">typedef</span> void (*<a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a770b780bfca122b3510067162f4c9b21">TFunctorFeedback</a>)(<span class="keyword">const</span> GRAPH_T &graph, <span class="keyword">const</span> <span class="keywordtype">size_t</span> iter, <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_iter, <span class="keyword">const</span> <span class="keywordtype">double</span> cur_sq_error );
<a name="l00077"></a>00077 };
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Output information for mrpt::graphslam::optimize_graph_spa_levmarq() */</span>
<a name="l00080"></a>00080 <span class="keyword">struct </span><a class="code" href="graphslam_2include_2mrpt_2graphslam_2link__pragmas_8h.html#afa95b50d68bbda1b2a15b8e02d452623">GRAPHSLAM_IMPEXP</a> <a class="code" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html" title="Output information for mrpt::graphslam::optimize_graph_spa_levmarq()">TResultInfoSpaLevMarq</a>
<a name="l00081"></a>00081 {
<a name="l00082"></a><a class="code" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#aec1300d412f52cd2fd9fd581ad0403c5">00082</a> <span class="keywordtype">size_t</span> <a class="code" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#aec1300d412f52cd2fd9fd581ad0403c5" title="The number of LM iterations executed.">num_iters</a>; <span class="comment">//!< The number of LM iterations executed.</span>
<a name="l00083"></a><a class="code" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#aaeede0ceccb08cd876de33782496fa79">00083</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#aaeede0ceccb08cd876de33782496fa79" title="The sum of all the squared errors for every constraint involved in the problem.">final_total_sq_error</a>; <span class="comment">//!< The sum of all the squared errors for every constraint involved in the problem.</span>
<a name="l00084"></a>00084 <span class="comment"></span> };
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00087"></a>00087
<a name="l00088"></a>00088 } <span class="comment">// End of namespace</span>
<a name="l00089"></a>00089 } <span class="comment">// End of namespace</span>
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
