74 lines
1.6 KiB
Text
74 lines
1.6 KiB
Text
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/** @file
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* @brief The 6D Lu Milios style SLAM in 6D
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*
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* @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
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* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
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*/
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#ifndef __GRAPH_H__
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#define __GRAPH_H__
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#include <vector>
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using std::vector;
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#include <string>
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using std::string;
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#include <fstream>
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using std::ostream;
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#include <boost/graph/adjacency_list.hpp>
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/* Boost graph declaration */
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using boost::edge_weight_t;
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typedef boost::adjacency_list <
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boost::listS, boost::vecS, boost::undirectedS,
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boost::no_property,
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boost::property < edge_weight_t, double > >
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graph_t;
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/**
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* @brief This class represent a directed network.
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* Each node corresponds to a laser scan.
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*/
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class Graph {
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public:
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Graph();
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Graph(const string &netfile);
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Graph(int nrScans, bool loop);
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Graph(double cldist, int loopsize);
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Graph(int nodes, double cldist2, int loopsize);
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int getLink(int i, int fromTo);
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void addLink(int i, int j);
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void setNrScans(int _nrScans);
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int getNrScans();
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int getNrLinks();
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int getStart();
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int getEnd();
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friend ostream& operator<<(ostream& os, Graph* gr);
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private:
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/**
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* The basic network structure
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*/
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vector <int> from, to;
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/**
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* The number of scans contained in this Graph
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*/
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int nrScans;
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/**
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* The very first Scan
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*/
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int start;
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};
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#endif
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