X-lanni
59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
#ifndef GRAPHMAP_H
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#define GRAPHMAP_H
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#include <list>
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#include <utils/point.h>
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#include <utils/graph.h>
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#include <grid/map.h>
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namespace GMapping {
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class RasterMap;
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struct GraphMapPatch{
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typedef typename std::list<IntPoint> PointList;
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/**Renders the map relatively to the center of the patch*/
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//void render(RenderMap rmap);
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/**returns the lower left corner of the patch, relative to the center*/
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//Point minBoundary() const;
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/**returns the upper right corner of the patch, relative to the center*/
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//Point maxBoundary() const; //
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OrientedPoint center;
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PointList m_points;
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};
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struct Covariance3{
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double sxx, sxy, sxt, syy, syt ,stt;
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};
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struct GraphMapEdge{
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Covariance3 covariance;
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GraphMapPatch* first, *second;
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inline operator double() const{
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return sqrt((first->center-second->center)*(first->center-second->center));
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}
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};
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struct GraphPatchGraph: public Graph<GraphMapPatch, Covariance3>{
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void addEdge(Vertex* v1, Vertex* v2, const Covariance3& covariance);
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};
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void GraphPatchGraph::addEdge(GraphPatchGraph::Vertex* v1, GraphPatchGraph::VertexVertex* v2,
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const Covariance3& cov){
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GraphMapEdge gme;
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gme.covariance=cov;
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gme.first=v1;
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gme.second=v2;
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return Graph<GraphMapPatch, Covariance3>::addEdge(v1,v2,gme);
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}
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struct GraphPatchDirectoryCell: public std::set<GraphMapPatch::Vertex*> {
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GraphPatchDirectoryCell(double);
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};
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typedef Map<GraphPatchDirectoryCell>, Array2D::set<GraphPatchDirectoryCell> >
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};
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#endif |