mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym Struct Reference

Detailed Description

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS>
struct mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym

The "symbolic" part of the spanning tree.

Definition at line 521 of file srba_types.h.

#include <mrpt/srba/srba_types.h>

Public Attributes
next_edge_maps_t	next_edge
	Given all interesting spanning tree roots (=SOURCE), this structure holds: map[SOURCE] |-> map[TARGET] |-> next node to follow. More...
all_edges_maps_t	all_edges
	From the previous data, we can build this alternative, more convenient representation: map[SOURCE] |-> map[TARGET] |-> vector of edges to follow. More...

Member Data Documentation

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS>

all_edges_maps_t mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::all_edges

From the previous data, we can build this alternative, more convenient representation: map[SOURCE] |-> map[TARGET] |-> vector of edges to follow.

Note

This table is symmetric since the shortest path i=>j is the same (in reverse order) than that for j=>i. So, we only store the entries for [i][j], i>j.

Definition at line 537 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::clear(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().

template<class KF2KF_POSE_TYPE, class LM_TYPE, class OBS_TYPE, class RBA_OPTIONS>

next_edge_maps_t mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::TSpanningTreeSym::next_edge

Given all interesting spanning tree roots (=SOURCE), this structure holds: map[SOURCE] |-> map[TARGET] |-> next node to follow.

Note

This defines a table with symmetric distances D(i,j)=D(j,i) but with asymetric next nodes N(i,j)!=N(j,i). So, we store both [i][j] and [j][i] in all cases.

Definition at line 529 of file srba_types.h.

Referenced by mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::clear(), and mrpt::srba::TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::update_symbolic_new_node().