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27 template <
class GRAPH_T =
typename mrpt::graphs::CNetworkOfPoses2DInf>
31 using pose_t =
typename constraint_t::type_value;
58 const std::string& section)
override;
typename GRAPH_T::constraint_t constraint_t
bool determinant_is_updated
Determine whether the determinant of the Path is up-to-date and can be directly fetched or has to be ...
const mrpt::graphs::TNodeID & getSource() const
Return the source node of this path.
~TUncertaintyPath() override=default
uint64_t TNodeID
A generic numeric type for unique IDs of nodes or entities.
mrpt::vision::TStereoCalibResults out
typename constraint_t::type_value pose_t
const mrpt::graphs::TNodeID & getDestination() const
Return the Destination node of this path.
SLAM methods related to graphs of pose constraints.
void addToPath(const mrpt::graphs::TNodeID &node, const constraint_t &edge)
add a new link in the current path.
constraint_t curr_pose_pdf
Current path position + corresponding covariance.
friend std::ostream & operator<<(std::ostream &o, const self_t &obj)
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
bool hasLowerUncertaintyThan(const self_t &other) const
Test if the current path has a lower uncertainty than the other path.
double determinant_cached
std::vector< mrpt::graphs::TNodeID > nodes_traversed
Nodes that the Path comprises of.
void assertIsBetweenNodeIDs(const mrpt::graphs::TNodeID &from, const mrpt::graphs::TNodeID &to) const
Assert that the current path is between the given nodeIDs.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
bool operator==(const self_t &other) const
bool operator!=(const self_t &other) const
self_t & operator+=(const self_t &other)
std::string getAsString() const
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form,...
Holds the data of an information path.
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