g2o::EdgeCreator Struct Reference

#include <edge_creator.h>

Classes
struct	EdgeCreatorEntry

Public Types
typedef std::map< std::string, EdgeCreatorEntry >	EntryMap

Public Member Functions
bool	addAssociation (const std::string &vertexTypes, const std::string &edgeType)
bool	addAssociation (const std::string &vertexTypes, const std::string &edgeType, const std::vector< int > &parameterIds)
bool	removeAssociation (std::string vertexTypes)
OptimizableGraph::Edge *	createEdge (std::vector< OptimizableGraph::Vertex * > &vertices)

Protected Attributes
EntryMap	_vertexToEdgeMap

Detailed Description

Class that implements a simple edge_creation, based on the types and the ordes of the vertices passed as argument. Namely, based on an ordered vector of vertices this class implements a method that construct a new edge compatible with the vertices in the vector. The order of the vector matters. This class is heavily based on the Factory, and utilizes strings to identify the edge types.

Definition at line 20 of file edge_creator.h.

Member Typedef Documentation

typedef std::map<std::string, EdgeCreatorEntry> g2o::EdgeCreator::EntryMap

Definition at line 32 of file edge_creator.h.

Member Function Documentation

bool g2o::EdgeCreator::addAssociation	(	const std::string &	vertexTypes,
		const std::string &	edgeType
	)

Adds an association to the association map

Parameters

vertexTypes	a string containing the tags of the vertices separated by a ";". For instance an edge between a VertexSE2 and and EdgeSE2 is identified by the string "VERTEX_SE2;EDGE_SE2;". The order matters.
edgeType	the tag of edge to create

Returns

false on failure (incompatible types). Currently returns always true because i did not have time to implement checks

Definition at line 18 of file edge_creator.cpp.

Referenced by main().

                                                                                          {
    return addAssociation(vertexTypes, edgeType, std::vector<int>());
  }

bool g2o::EdgeCreator::addAssociation	(	const std::string &	vertexTypes,
		const std::string &	edgeType,
		const std::vector< int > &	parameterIds
	)

Adds an association to the association map

Parameters

vertexTypes	a string containing the tags of the vertices separated by a ";". For instance an edge between a VertexSE2 and and EdgeSE2 is identified by the string "VERTEX_SE2;EDGE_SE2;". The order matters.
edgeType	the tag of edge to create
parameterIds	the ids of the parameters uses as argument when creating the edge (the same as Edge::_parameterIds)

Returns

false on failure (incompatible types). Currently returns always true because i did not have time to implement checks

Definition at line 8 of file edge_creator.cpp.

                                                                                                                              {

    EntryMap::iterator it = _vertexToEdgeMap.find(vertexTypes);
    if (it!=_vertexToEdgeMap.end())
      it->second = edgeType;
    else
      _vertexToEdgeMap.insert(make_pair(vertexTypes,EdgeCreatorEntry(edgeType, parameterIds)));
    return true;
  }

OptimizableGraph::Edge * g2o::EdgeCreator::createEdge

(

std::vector< OptimizableGraph::Vertex * > &

vertices

)

constructs an edge based on the verticesVector given as argument The vertices of the newly created edge are set to the parameter vertices: the vertices to be connected by the new edge

Returns

the new edge on succes, 0 on failure (no edge association in the map compatible with the vertices in the parameter)

Definition at line 31 of file edge_creator.cpp.

References g2o::Factory::construct(), g2o::Factory::instance(), g2o::OptimizableGraph::Edge::numParameters(), g2o::OptimizableGraph::Edge::setParameterId(), g2o::Factory::tag(), and g2o::HyperGraph::Edge::vertices().

Referenced by g2o::assignHierarchicalEdges(), and g2o::computeSimpleStars().

                                                                                            {
    std::stringstream key;
    Factory* factory=Factory::instance();
    for (size_t i=0; i<vertices.size(); i++){
      key << factory->tag(vertices[i]) << ";";
    }
    EntryMap::iterator it=_vertexToEdgeMap.find(key.str());
    if (it==_vertexToEdgeMap.end()){
      cerr << "no thing in factory: " << key.str() << endl;
      return 0;
    }
    HyperGraph::HyperGraphElement* element=factory->construct(it->second._edgeTypeName);
    if (! element) {
      cerr << "no thing can be created" << endl;
      return 0;
    }
    OptimizableGraph::Edge* e = dynamic_cast<OptimizableGraph::Edge*>(element);
    assert(it->second._parameterIds.size() == e->numParameters());
    for (size_t i=0; i<it->second._parameterIds.size(); i++){
      if (! e->setParameterId(i,it->second._parameterIds[i])) {
        cerr << "no thing in good for setting params" << endl;
        return 0;
      }
    }
    assert (e);
    for (size_t i=0; i<vertices.size(); i++)
      e->vertices()[i]=vertices[i];
    return e;
  }

bool g2o::EdgeCreator::removeAssociation

(

std::string

vertexTypes

)

Removes an association to the association map. vertexTypes: the string of the vertex ids connected by the edge

Definition at line 22 of file edge_creator.cpp.

                                                          {
    EntryMap::iterator it = _vertexToEdgeMap.find(vertexTypes);
    if (it==_vertexToEdgeMap.end())
      return false;
    _vertexToEdgeMap.erase(it);
    return true;
  }

Member Data Documentation

EntryMap g2o::EdgeCreator::_vertexToEdgeMap

protected

Definition at line 63 of file edge_creator.h.

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The documentation for this struct was generated from the following files:

• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/edge_creator.h
• /home/xuezhisd/CLionProjects/g2o/g2o/apps/g2o_hierarchical/edge_creator.cpp