MRPT logo

mrpt::slam::CMetricMap::TMatchingPairList Class Reference

A list of TMatchingPair. More...

#include <mrpt/slam/CMetricMap.h>

List of all members.

Public Types

typedef std::deque
< TMatchingPair >::iterator 
iterator
typedef std::deque
< TMatchingPair >
::const_iterator 
const_iterator

Public Member Functions

 TMatchingPairList ()
iterator begin ()
const_iterator begin () const
iterator end ()
const_iterator end () const
void clear ()
size_t size () const
void resize (const size_t &i)
void push_back (const TMatchingPair &d)
iterator erase (const iterator &i)
TMatchingPairoperator[] (const size_t &i)
const TMatchingPairoperator[] (const size_t &i) const
bool indexOtherMapHasCorrespondence (unsigned int idx)
 Checks if the given index from the "other" map appears in the list.
void dumpToFile (const char *fileName)
 Saves the correspondences to a text file.
void saveAsMATLABScript (const std::string &filName)
 Saves the correspondences as a MATLAB script which draws them.
float overallSquareError (const CPose2D &q) const
 Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector.

float overallSquareErrorAndPoints (const CPose2D &q, vector_float &xs, vector_float &ys) const
 Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well.
void squareErrorVector (const CPose2D &q, vector_float &out_sqErrs) const
 Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

void squareErrorVector (const CPose2D &q, vector_float &out_sqErrs, vector_float &xs, vector_float &ys) const
 Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.


Protected Attributes

std::deque< TMatchingPairm_matchs


Detailed Description

A list of TMatchingPair.

Definition at line 204 of file CMetricMap.h.


Member Typedef Documentation

Definition at line 213 of file CMetricMap.h.

Definition at line 212 of file CMetricMap.h.


Constructor & Destructor Documentation

mrpt::slam::CMetricMap::TMatchingPairList::TMatchingPairList (  )  [inline]

Definition at line 210 of file CMetricMap.h.


Member Function Documentation

const_iterator mrpt::slam::CMetricMap::TMatchingPairList::begin (  )  const [inline]

Definition at line 216 of file CMetricMap.h.

iterator mrpt::slam::CMetricMap::TMatchingPairList::begin (  )  [inline]

Definition at line 215 of file CMetricMap.h.

void mrpt::slam::CMetricMap::TMatchingPairList::clear ( void   )  [inline]

Definition at line 221 of file CMetricMap.h.

void mrpt::slam::CMetricMap::TMatchingPairList::dumpToFile ( const char *  fileName  ) 

Saves the correspondences to a text file.

const_iterator mrpt::slam::CMetricMap::TMatchingPairList::end (  )  const [inline]

Definition at line 219 of file CMetricMap.h.

iterator mrpt::slam::CMetricMap::TMatchingPairList::end (  )  [inline]

Definition at line 218 of file CMetricMap.h.

iterator mrpt::slam::CMetricMap::TMatchingPairList::erase ( const iterator i  )  [inline]

Definition at line 229 of file CMetricMap.h.

bool mrpt::slam::CMetricMap::TMatchingPairList::indexOtherMapHasCorrespondence ( unsigned int  idx  ) 

Checks if the given index from the "other" map appears in the list.

const TMatchingPair& mrpt::slam::CMetricMap::TMatchingPairList::operator[] ( const size_t &  i  )  const [inline]

Definition at line 233 of file CMetricMap.h.

TMatchingPair& mrpt::slam::CMetricMap::TMatchingPairList::operator[] ( const size_t &  i  )  [inline]

Definition at line 232 of file CMetricMap.h.

float mrpt::slam::CMetricMap::TMatchingPairList::overallSquareError ( const CPose2D q  )  const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q"

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector.

See also:
squareErrorVector, overallSquareErrorAndPoints

float mrpt::slam::CMetricMap::TMatchingPairList::overallSquareErrorAndPoints ( const CPose2D q,
vector_float xs,
vector_float ys 
) const

Computes the overall square error between the 2D points in the list of correspondences, given the 2D transformation "q", and return the transformed points as well.

\[ \sum\limits_i e_i \]

Where $ e_i $ are the elements of the square error vector as computed by computeSquareErrorVector

See also:
squareErrorVector

void mrpt::slam::CMetricMap::TMatchingPairList::push_back ( const TMatchingPair d  )  [inline]

Definition at line 227 of file CMetricMap.h.

void mrpt::slam::CMetricMap::TMatchingPairList::resize ( const size_t &  i  )  [inline]

Definition at line 225 of file CMetricMap.h.

void mrpt::slam::CMetricMap::TMatchingPairList::saveAsMATLABScript ( const std::string &  filName  ) 

Saves the correspondences as a MATLAB script which draws them.

size_t mrpt::slam::CMetricMap::TMatchingPairList::size (  )  const [inline]

Definition at line 223 of file CMetricMap.h.

void mrpt::slam::CMetricMap::TMatchingPairList::squareErrorVector ( const CPose2D q,
vector_float out_sqErrs,
vector_float xs,
vector_float ys 
) const

Returns a vector with the square error between each pair of correspondences in the list and the transformed "other" (local) points, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

See also:
overallSquareError

void mrpt::slam::CMetricMap::TMatchingPairList::squareErrorVector ( const CPose2D q,
vector_float out_sqErrs 
) const

Returns a vector with the square error between each pair of correspondences in the list, given the 2D transformation "q" Each element $ e_i $ is the square distance between the "this" (global) point and the "other" (local) point transformed through "q":

\[ e_i = | x_{this} - q \oplus x_{other} |^2 \]

.

See also:
overallSquareError


Member Data Documentation

Definition at line 207 of file CMetricMap.h.




Page generated by Doxygen 1.5.7.1 for MRPT 0.6.5 SVN: at Mon Feb 23 13:35:09 EST 2009