navigation_common::PoseGraph Class Reference

#include <PoseGraph.hpp>

Public Types
typedef std::shared_ptr< PoseGraph >	PoseGraphPtr
typedef std_msgs::Header	Header

Public Member Functions
	PoseGraph ()=default
	PoseGraph (const navigation_msgs::PoseGraph &poseGraphMsg)
	~PoseGraph ()=default
void	fromRos (const navigation_msgs::PoseGraph &poseGraphMsg)
navigation_msgs::PoseGraph	toRos () const
bool	fromFile (const std::string &absolutePath)
bool	toFile (const std::string &absolutePath) const
void	clear ()
unsigned int	getNumberOfNodes () const
unsigned int	getNumberOfEdges () const
const std::vector< NodePtr > &	getNodes () const
const std::vector< EdgePtr > &	getEdges () const
template<enum DimensionType Dim>
NodePtr	findNearestNode (const PoseStamped &poseStamped, double maxDistance=std::numeric_limits< double >::infinity()) const
template<enum DimensionType Dim>
NodePtr	findNode (const PoseStamped &poseStamped) const
NodePtr	getNode (const PoseStampedPtr &poseStamped) const
void	addNode (const NodePtr &node)
void	addEdge (const EdgePtr &edge)
void	removeNode (const NodePtr &node)
void	removeEdge (const EdgePtr edge)
void	removeUntraversableEdges ()
void	removeUnconnectedNodes ()
void	removeNodesWithinArea (const double lowX, const double highX, const double lowY, const double highY, const double lowZ=std::numeric_limits< double >::min(), const double highZ=std::numeric_limits< double >::max())
void	fillDefaultController (const LocomotionController &defaultLocomotionController)
void	splitLongEdges (double maxEdgeLength)
void	discretizeYaw (unsigned int steps, const LocomotionController &yawingLocomotionController)
void	addYawToZ (double zScale, double yawScale)
PoseGraphPtr	getDeepCopy () const

Public Attributes
Header	header_
	Header. More...
std::vector< NodePtr >	nodes_
	Nodes. More...
std::vector< EdgePtr >	edges_
	Edges. More...

Member Typedef Documentation

typedef std_msgs::Header navigation_common::PoseGraph::Header

typedef std::shared_ptr<PoseGraph> navigation_common::PoseGraph::PoseGraphPtr

Constructor & Destructor Documentation

navigation_common::PoseGraph::PoseGraph ( )

default

Constructor.

navigation_common::PoseGraph::PoseGraph ( const navigation_msgs::PoseGraph &  poseGraphMsg )

explicit

Constructor.

Parameters

poseGraphMsg

ros pose graph message.

navigation_common::PoseGraph::~PoseGraph ( )

default

Destructor.

Member Function Documentation

void navigation_common::PoseGraph::addEdge

(

const EdgePtr &

edge

)

Adds an edge to the pose graph.

Parameters

edge	edge to add to pose graph.

void navigation_common::PoseGraph::addNode

(

const NodePtr &

node

)

Adds a node to the pose graph.

Parameters

node	node to add to pose graph.

void navigation_common::PoseGraph::addYawToZ	(	double	zScale,
		double	yawScale
	)

Add the yaw angle to z coordinate for visual debugging purposes. z := zScale*z + yawScale*yaw

Parameters

zScale	scaling of z.
yawScale	scaling of yaw.

void navigation_common::PoseGraph::clear

(

)

Clears the pose graph.

void navigation_common::PoseGraph::discretizeYaw	(	unsigned int	steps,
		const LocomotionController &	yawingLocomotionController
	)

Discretize the yaw angle of the pose graph:

• Where the orientation is important, it is projected to the xy-plane.
• Where the orientation is ignored, new nodes with different orientations in the xy-plane are introduced.

  Parameters

  steps	(preferably even) number of discretization steps.
  turningLocomotionController	locomotion controller which is used for yawing.

void navigation_common::PoseGraph::fillDefaultController

(

const LocomotionController &

defaultLocomotionController

)

Fill default controller.

Parameters

defaultLocomotionController

Default locomotion controller

template<enum DimensionType Dim>

NodePtr navigation_common::PoseGraph::findNearestNode ( const PoseStamped &  poseStamped, double  maxDistance = std::numeric_limits<double>::infinity()  ) const

inline

Finds the nearest node in the pose graph in the given dimension.

Parameters

[in]	poseStamped	stamped pose to search for.
[in]	maxDistance	max distance for the nearest node.

Returns

node on the pose graph. empty pointer if not within max distance.

template<enum DimensionType Dim>

NodePtr navigation_common::PoseGraph::findNode ( const PoseStamped &  poseStamped ) const

inline

Finds a node in the pose graph.

Parameters

[in]

poseStamped

stamped pose of the node.

Returns

node on the pose graph. empty pointer if not found.

bool navigation_common::PoseGraph::fromFile

(

const std::string &

absolutePath

)

Loads the pose graph from a file.

Parameters

absolutePath

absolute path to pose graph file.

Returns

true if successful.

void navigation_common::PoseGraph::fromRos

(

const navigation_msgs::PoseGraph &

poseGraphMsg

)

Imports a ros pose graph message.

Parameters

poseGraphMsg

ros pose graph message.

PoseGraphPtr navigation_common::PoseGraph::getDeepCopy

(

)

const

Create a deep copy of this pose graph.

Returns

new pose graph.

const std::vector<EdgePtr>& navigation_common::PoseGraph::getEdges

(

)

const

Gets all edges of the pose graph.

Returns

all edges.

NodePtr navigation_common::PoseGraph::getNode

(

const PoseStampedPtr &

poseStamped

)

const

Gets a node in the pose graph.

Parameters

[in]

poseStamped

pointer to the stamped pose of the node.

Returns

node on the pose graph. empty pointer if not found.

const std::vector<NodePtr>& navigation_common::PoseGraph::getNodes

(

)

const

Gets all nodes of the pose graph.

Returns

all nodes.

unsigned int navigation_common::PoseGraph::getNumberOfEdges

(

)

const

Gets the number of edges in the pose graph.

Returns

number of edges in the pose graph.

unsigned int navigation_common::PoseGraph::getNumberOfNodes

(

)

const

Gets the number of nodes in the pose graph.

Returns

number of nodes in the pose graph.

void navigation_common::PoseGraph::removeEdge

(

const EdgePtr

edge

)

Removes an edge in the pose graph.

Parameters

edge	pointer to the edge.

void navigation_common::PoseGraph::removeNode

(

const NodePtr &

node

)

Removes a node in the pose graph.

Parameters

node	pointer to the node.

void navigation_common::PoseGraph::removeNodesWithinArea	(	const double	lowX,
		const double	highX,
		const double	lowY,
		const double	highY,
		const double	lowZ = std::numeric_limits< double >::min(),
		const double	highZ = std::numeric_limits< double >::max()
	)

Removes all nodes that are within the specified rectangular area.

Parameters

[in]	lowX	lower bound of rectangle in x-direction.
[in]	highX	upper bound of rectangle in x-direction.
[in]	lowY	lower bound of rectangle in y-direction.
[in]	highY	upper bound of rectangle in y-direction.

void navigation_common::PoseGraph::removeUnconnectedNodes

(

)

Removes all nodes that are not connected to another node.

void navigation_common::PoseGraph::removeUntraversableEdges

(

)

Removes all edges that are not traversable (zero traversability).

void navigation_common::PoseGraph::splitLongEdges

(

double

maxEdgeLength

)

Splits long edges by inserting new nodes.

Parameters

maxEdgeLength

maximal length of the edges.

bool navigation_common::PoseGraph::toFile

(

const std::string &

absolutePath

)

const

Saves the pose graph to a file.

Parameters

absolutePath

absolute path to pose graph file.

Returns

true if successful.

navigation_msgs::PoseGraph navigation_common::PoseGraph::toRos

(

)

const

Exports a ros pose graph message.

Returns

ros pose graph message.

Member Data Documentation

std::vector<EdgePtr> navigation_common::PoseGraph::edges_

Edges.

Header navigation_common::PoseGraph::header_

Header.

std::vector<NodePtr> navigation_common::PoseGraph::nodes_

Nodes.

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The documentation for this class was generated from the following file:

• PoseGraph.hpp