#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

◆ Header

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

◆ PoseGraphPtr

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

Constructor & Destructor Documentation

◆ PoseGraph() [1/2]

navigation_common::PoseGraph::PoseGraph ( )

default

Constructor.

◆ PoseGraph() [2/2]

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

explicit

Constructor.

Parameters

poseGraphMsg ros pose graph message.

◆ ~PoseGraph()

navigation_common::PoseGraph::~PoseGraph ( )

default

Destructor.

Member Function Documentation

◆ addEdge()

void navigation_common::PoseGraph::addEdge ( const EdgePtr & edge )

Adds an edge to the pose graph.

Parameters

edge	edge to add to pose graph.

◆ addNode()

void navigation_common::PoseGraph::addNode ( const NodePtr & node )

Adds a node to the pose graph.

Parameters

node	node to add to pose graph.

◆ addYawToZ()

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.

◆ clear()

void navigation_common::PoseGraph::clear ( )

Clears the pose graph.

◆ discretizeYaw()

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.

◆ fillDefaultController()

void navigation_common::PoseGraph::fillDefaultController ( const LocomotionController & defaultLocomotionController )

Fill default controller.

Parameters

defaultLocomotionController Default locomotion controller

◆ findNearestNode()

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.

◆ findNode()

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.

◆ fromFile()

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.

◆ fromRos()

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

Imports a ros pose graph message.

Parameters

poseGraphMsg ros pose graph message.

◆ getDeepCopy()

PoseGraphPtr navigation_common::PoseGraph::getDeepCopy ( ) const

Create a deep copy of this pose graph.

Returns: new pose graph.

◆ getEdges()

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

Gets all edges of the pose graph.

Returns: all edges.

◆ getNode()

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.

◆ getNodes()

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

Gets all nodes of the pose graph.

Returns: all nodes.

◆ getNumberOfEdges()

unsigned int navigation_common::PoseGraph::getNumberOfEdges ( ) const

Gets the number of edges in the pose graph.

Returns: number of edges in the pose graph.

◆ getNumberOfNodes()

unsigned int navigation_common::PoseGraph::getNumberOfNodes ( ) const

Gets the number of nodes in the pose graph.

Returns: number of nodes in the pose graph.

◆ removeEdge()

void navigation_common::PoseGraph::removeEdge ( const EdgePtr edge )

Removes an edge in the pose graph.

Parameters

edge	pointer to the edge.

◆ removeNode()

void navigation_common::PoseGraph::removeNode ( const NodePtr & node )

Removes a node in the pose graph.

Parameters

node	pointer to the node.

◆ removeNodesWithinArea()

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.

◆ removeUnconnectedNodes()

void navigation_common::PoseGraph::removeUnconnectedNodes ( )

Removes all nodes that are not connected to another node.

◆ removeUntraversableEdges()

void navigation_common::PoseGraph::removeUntraversableEdges ( )

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

◆ splitLongEdges()

void navigation_common::PoseGraph::splitLongEdges ( double maxEdgeLength )

Splits long edges by inserting new nodes.

Parameters

maxEdgeLength maximal length of the edges.

◆ toFile()

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.

◆ toRos()

navigation_msgs::PoseGraph navigation_common::PoseGraph::toRos ( ) const

Exports a ros pose graph message.

Returns: ros pose graph message.

Member Data Documentation

◆ edges_

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

Edges.

◆ header_

Header navigation_common::PoseGraph::header_

Header.

◆ nodes_

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

Nodes.

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

PoseGraph.hpp

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

Public Types

Public Member Functions

Public Attributes

Member Typedef Documentation

◆ Header

◆ PoseGraphPtr

Constructor & Destructor Documentation

◆ PoseGraph() [1/2]

◆ PoseGraph() [2/2]

◆ ~PoseGraph()

Member Function Documentation

◆ addEdge()

◆ addNode()

◆ addYawToZ()

◆ clear()

◆ discretizeYaw()

◆ fillDefaultController()

◆ findNearestNode()

◆ findNode()

◆ fromFile()

◆ fromRos()

◆ getDeepCopy()

◆ getEdges()

◆ getNode()

◆ getNodes()

◆ getNumberOfEdges()

◆ getNumberOfNodes()

◆ removeEdge()

◆ removeNode()

◆ removeNodesWithinArea()

◆ removeUnconnectedNodes()

◆ removeUntraversableEdges()

◆ splitLongEdges()

◆ toFile()

◆ toRos()

Member Data Documentation

◆ edges_

◆ header_

◆ nodes_