00001 #ifndef GRAPHMANAGER_HPP
00002 #define GRAPHMANAGER_HPP
00003
00004 #include <vector>
00005 #include <fstream>
00006
00007 #include <boost/graph/graphviz.hpp>
00008
00009 #include <kernel/threads.hpp>
00010
00011 #include <graphmap/transformation.hpp>
00012 #include <graphmap/algorithms.hpp>
00013 #include <graphmap/graphManagerAbstract.hpp>
00014 #include <graphmap/inputManagerAbstract.hpp>
00015 #include <graphmap/outputManagerAbstract.hpp>
00016
00017 #include <rtslam/quatTools.hpp>
00018
00019 namespace jafar{
00020 namespace graphmap{
00021
00022 class GraphManager : public GraphManagerAbstract
00023 {
00024 public:
00025 typedef typename std::vector<edge_descriptor> EdgeList;
00026
00027 typedef typename boost::shared_ptr< InputManagerAbstract > input_manager_ptr_t;
00028 typedef typename std::vector< input_manager_ptr_t > InputManagerVector;
00029 typedef typename boost::shared_ptr< OutputManagerAbstract > output_manager_ptr_t;
00030 typedef typename std::vector< output_manager_ptr_t > OutputManagerVector;
00031
00032 GraphManager(RobotId robotId);
00033
00034 bool addNewEdge(RobotId from_robot, MapId from_map,
00035 RobotId to_robot, MapId to_map,
00036 Transformation t);
00037 void addInputManager(input_manager_ptr_t inputManagerPtr);
00038 void addOutputManager(output_manager_ptr_t outputManagerPtr);
00039 void updateGraph();
00040 void updateVertexData();
00041 void lookForLoopsFromEdge(edge_descriptor e);
00042 void optmizeLoops();
00043 EdgeList getLoop();
00044 void dumpToMemory();
00045 void saveGraphImage(std::string filename);
00046
00047
00048 kernel::VariableMutex<bool> exit;
00049 std::vector<EdgeList> _loops;
00050 InputManagerVector _input_managers;
00051 OutputManagerVector _output_managers;
00052 };
00053
00054 }
00055 }
00056
00057 #endif // GRAPHMANAGER_HPP
