<!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>[mrpt-graphs]</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><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> <div class="header"> <div class="summary"> <a href="#nested-classes">Classes</a> | <a href="#namespaces">Namespaces</a> | <a href="#func-members">Functions</a> </div> <div class="headertitle"> <div class="title">[mrpt-graphs]</div> </div> </div> <div class="contents"> <hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/> </p> <h2>Library <code>mrpt-graphs</code></h2> <hr/> <p>Graph-related stuff: generic directed graphs (<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html" title="A directed graph with the argument of the template specifying the type of the annotations in the edge...">mrpt::graphs::CDirectedGraph</a>) and trees (<a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html" title="A special kind of graph in the form of a tree with directed edges and optional edge annotations of te...">mrpt::graphs::CDirectedTree</a>).</p> <p>Graphs of pose constraints are also defined in this library, via a generic template <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a>, capable of reading and writing to both binary and <a href="http://www.mrpt.org/Robotics_file_formats">text pose-graph file</a> formats. Predefined typedefs exist for:</p> <ul> <li><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html" title="The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing seria...">mrpt::graphs::CNetworkOfPoses2D</a> -> 2D graphs (x,y,phi), covariance matrix.</li> <li><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html" title="The specialization of CNetworkOfPoses for poses of type CPose3D (not a PDF!), also implementing seria...">mrpt::graphs::CNetworkOfPoses3D</a> -> 3D graphs (x,y,z,yaw,pitch,roll), covariance matrix.</li> <li><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html" title="The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serial...">mrpt::graphs::CNetworkOfPoses2DInf</a> -> 2D graphs (x,y,phi), inverse covariance (information) matrix.</li> <li><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html" title="The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing seri...">mrpt::graphs::CNetworkOfPoses3DInf</a> -> 3D graphs (x,y,z,yaw,pitch,roll), inverse covariance (information) matrix. </li> </ul> <table class="memberdecls"> <tr><td colspan="2"><h2><a name="nested-classes"></a> Classes</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_a_star_algorithm.html">mrpt::graphs::CAStarAlgorithm</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">This class is intended to efficiently solve graph-search problems using heuristics to determine the best path. <a href="classmrpt_1_1graphs_1_1_c_a_star_algorithm.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_graph.html">mrpt::graphs::CDirectedGraph</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">A directed graph with the argument of the template specifying the type of the annotations in the edges. <a href="classmrpt_1_1graphs_1_1_c_directed_graph.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_directed_tree.html">mrpt::graphs::CDirectedTree</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">A special kind of graph in the form of a tree with directed edges and optional edge annotations of templatized type "TYPE_EDGES". <a href="classmrpt_1_1graphs_1_1_c_directed_tree.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html">mrpt::graphs::CNetworkOfPoses</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">A directed graph of pose constraints, with edges being the relative pose between pairs of nodes indentified by their numeric IDs (of type TNodeID). <a href="classmrpt_1_1graphs_1_1_c_network_of_poses.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses2_d_ptr.html">mrpt::graphs::CNetworkOfPoses2DPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses3_d_ptr.html">mrpt::graphs::CNetworkOfPoses3DPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses2_d_cov_ptr.html">mrpt::graphs::CNetworkOfPoses2DCovPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses3_d_cov_ptr.html">mrpt::graphs::CNetworkOfPoses3DCovPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf_ptr.html">mrpt::graphs::CNetworkOfPoses2DInfPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf_ptr.html">mrpt::graphs::CNetworkOfPoses3DInfPtr</a></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html">mrpt::graphs::CNetworkOfPoses2D</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPose2D (not a PDF!), also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html">mrpt::graphs::CNetworkOfPoses3D</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPose3D (not a PDF!), also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_cov.html">mrpt::graphs::CNetworkOfPoses2DCov</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPosePDFGaussian, also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_cov.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_cov.html">mrpt::graphs::CNetworkOfPoses3DCov</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPose3DPDFGaussian, also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_cov.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html">mrpt::graphs::CNetworkOfPoses2DInf</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPosePDFGaussianInf, also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html">mrpt::graphs::CNetworkOfPoses3DInf</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The specialization of <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">CNetworkOfPoses</a> for poses of type CPose3DPDFGaussianInf, also implementing serialization. <a href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html#details">More...</a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1graphs_1_1_c_dijkstra.html">mrpt::graphs::CDijkstra</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The Dijkstra algorithm for finding the shortest path between a given source node in a (weighted) directed graph and all other nodes in the form of a tree. <a href="classmrpt_1_1graphs_1_1_c_dijkstra.html#details">More...</a><br/></td></tr> <tr><td colspan="2"><h2><a name="namespaces"></a> Namespaces</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1graphs_1_1detail.html">mrpt::graphs::detail</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Internal functions for MRPT. </p> <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1graphs.html">mrpt::graphs</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Abstract graph and tree data structures, plus generic graph algorithms. </p> <br/></td></tr> <tr><td colspan="2"><h2><a name="func-members"></a> Functions</h2></td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#gacb93ef2392f1730d84e0556a521e7de4">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses2DPtr &pObj)</td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#gadd7885b3d9cd163bf001306c26d7a7bf">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses3DPtr &pObj)</td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#ga4b75fe040ad2f0814ae195bfa07774ce">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses2DCovPtr &pObj)</td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#gafc2d7e00893a373b1816cf95f3618641">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses3DCovPtr &pObj)</td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#gaaa8a09968b58d49656ab433505f22061">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses2DInfPtr &pObj)</td></tr> <tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__graphs__grp.html#gacb19dd6b58e0d15e84f2a09d077505e5">mrpt::graphs::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CNetworkOfPoses3DInfPtr &pObj)</td></tr> </table> <hr/><h2>Function Documentation</h2> <a class="anchor" id="gacb93ef2392f1730d84e0556a521e7de4"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="gacb93ef2392f1730d84e0556a521e7de4" args="(mrpt::utils::CStream &in, CNetworkOfPoses2DPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses2DPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="gadd7885b3d9cd163bf001306c26d7a7bf"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="gadd7885b3d9cd163bf001306c26d7a7bf" args="(mrpt::utils::CStream &in, CNetworkOfPoses3DPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses3DPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="ga4b75fe040ad2f0814ae195bfa07774ce"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="ga4b75fe040ad2f0814ae195bfa07774ce" args="(mrpt::utils::CStream &in, CNetworkOfPoses2DCovPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses2DCovPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="gafc2d7e00893a373b1816cf95f3618641"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="gafc2d7e00893a373b1816cf95f3618641" args="(mrpt::utils::CStream &in, CNetworkOfPoses3DCovPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses3DCovPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="gaaa8a09968b58d49656ab433505f22061"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="gaaa8a09968b58d49656ab433505f22061" args="(mrpt::utils::CStream &in, CNetworkOfPoses2DInfPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses2DInfPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="gacb19dd6b58e0d15e84f2a09d077505e5"></a><!-- doxytag: member="mrpt::graphs::operator>>" ref="gacb19dd6b58e0d15e84f2a09d077505e5" args="(mrpt::utils::CStream &in, CNetworkOfPoses3DInfPtr &pObj)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::graphs::operator>> </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td> <td class="paramname"><em>in</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">CNetworkOfPoses3DInfPtr & </td> <td class="paramname"><em>pObj</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td></td> </tr> </table> </div> <div class="memdoc"> </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>