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[mrpt-graphs]

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`mrpt-graphs`

Graph-related stuff: generic directed graphs (mrpt::graphs::CDirectedGraph) and trees (mrpt::graphs::CDirectedTree).

Graphs of pose constraints are also defined in this library, via a generic template mrpt::graphs::CNetworkOfPoses, capable of reading and writing to both binary and text pose-graph file formats. Predefined typedefs exist for:

- mrpt::graphs::CNetworkOfPoses2D -> Edges are 2D graphs (x,y,phi), without uncertainty.
- mrpt::graphs::CNetworkOfPoses3D -> Edges are 3D graphs (x,y,z,yaw,pitch,roll), without uncertainty.
- mrpt::graphs::CNetworkOfPoses2DInf -> Edges are 2D graphs (x,y,phi), with an inverse covariance (information) matrix.
- mrpt::graphs::CNetworkOfPoses3DInf -> Edges are 3D graphs (x,y,z,yaw,pitch,roll), with an inverse covariance (information) matrix.

## Classes | |

class | mrpt::graphs::CAStarAlgorithm< T > |

This class is intended to efficiently solve graph-search problems using heuristics to determine the best path. More... | |

struct | mrpt::graphs::TGraphvizExportParams |

Used in mrpt::graphs export functions to .dot files. More... | |

class | mrpt::graphs::CDirectedGraph< TYPE_EDGES, EDGE_ANNOTATIONS > |

A directed graph with the argument of the template specifying the type of the annotations in the edges. More... | |

class | mrpt::graphs::CDirectedTree< TYPE_EDGES > |

A special kind of graph in the form of a tree with directed edges and optional edge annotations of templatized type "TYPE_EDGES". More... | |

class | mrpt::graphs::CNetworkOfPoses< CPOSE, MAPS_IMPLEMENTATION, NODE_ANNOTATIONS, EDGE_ANNOTATIONS > |

A directed graph of pose constraints, with edges being the relative poses between pairs of nodes identified by their numeric IDs (of type mrpt::graphs::TNodeID). More... | |

class | mrpt::graphs::CDijkstra< TYPE_GRAPH, MAPS_IMPLEMENTATION > |

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. More... | |

struct | mrpt::graphs::detail::THypothesis< GRAPH_T > |

An edge hypothesis between two nodeIDs. More... | |

struct | mrpt::graphs::detail::TMRSlamEdgeAnnotations |

Struct to be used as the EDGE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More... | |

struct | mrpt::graphs::detail::TMRSlamNodeAnnotations |

Struct to be used as the NODE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More... | |

struct | mrpt::graphs::detail::TNodeAnnotations |

Abstract class from which NodeAnnotations related classes can be implemented. More... | |

struct | mrpt::graphs::detail::TNodeAnnotationsEmpty |

Struct to be used as the NODE_ANNOTATIONS template argument in CNetworkOfPoses class instances for use in multiple-robot SLAM applications. More... | |

## Namespaces | |

mrpt::graphs::detail | |

Internal functions for MRPT. | |

mrpt::graphs | |

Abstract graph and tree data structures, plus generic graph algorithms. | |

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