You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
74 lines
1.6 KiB
C++
74 lines
1.6 KiB
C++
/** @file
|
|
* @brief The 6D Lu Milios style SLAM in 6D
|
|
*
|
|
* @author Dorit Borrman. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Jan Elseberg. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Kai Lingemann. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
* @author Andreas Nuechter. Institute of Computer Science, University of Osnabrueck, Germany.
|
|
*/
|
|
|
|
#ifndef __GRAPH_H__
|
|
#define __GRAPH_H__
|
|
|
|
#include <vector>
|
|
using std::vector;
|
|
#include <string>
|
|
using std::string;
|
|
#include <fstream>
|
|
using std::ostream;
|
|
|
|
#include <boost/graph/adjacency_list.hpp>
|
|
|
|
/* Boost graph declaration */
|
|
using boost::edge_weight_t;
|
|
typedef boost::adjacency_list <
|
|
boost::listS, boost::vecS, boost::undirectedS,
|
|
boost::no_property,
|
|
boost::property < edge_weight_t, double > >
|
|
graph_t;
|
|
|
|
/**
|
|
* @brief This class represent a directed network.
|
|
* Each node corresponds to a laser scan.
|
|
*/
|
|
class Graph {
|
|
|
|
public:
|
|
|
|
Graph();
|
|
Graph(const string &netfile);
|
|
Graph(int nrScans, bool loop);
|
|
Graph(double cldist, int loopsize);
|
|
Graph(int nodes, double cldist2, int loopsize);
|
|
|
|
int getLink(int i, int fromTo);
|
|
void addLink(int i, int j);
|
|
|
|
void setNrScans(int _nrScans);
|
|
int getNrScans();
|
|
int getNrLinks();
|
|
|
|
int getStart();
|
|
int getEnd();
|
|
|
|
friend ostream& operator<<(ostream& os, Graph* gr);
|
|
|
|
private:
|
|
/**
|
|
* The basic network structure
|
|
*/
|
|
vector <int> from, to;
|
|
|
|
/**
|
|
* The number of scans contained in this Graph
|
|
*/
|
|
int nrScans;
|
|
|
|
/**
|
|
* The very first Scan
|
|
*/
|
|
int start;
|
|
};
|
|
|
|
#endif
|