graphProperties.hpp

#ifndef GRAPHPROPERTIES_HPP
#define GRAPHPROPERTIES_HPP

#include <graphmap/transformation.hpp>
#include <kernel/IdFactory.hpp>

namespace jafar{
namespace graphmap {

typedef unsigned int RobotId;
typedef unsigned int MapId;
typedef typename std::pair<RobotId, MapId> Vertex;
typedef typename std::pair<Vertex, Vertex> Edge;

struct Graph_Properties
{
  typedef unsigned int loop_id_t;

  Graph_Properties() :
    loopIdFactory() { }

  kernel::IdFactory<loop_id_t, kernel::IdCollectorNone> loopIdFactory;
};

struct Edge_Properties
{
  Edge_Properties();
  Edge_Properties(Transformation t);

  void setTf(Transformation t);
  void setTf(jblas::vec7 x, jblas::sym_mat P);

  Transformation getTf() const;
  Transformation getTfBase() const;

private:
  Transformation tf; 
  Transformation base_tf; 
  double time_last_update;
  bool initialized;

public:
  double uncertainty;
  std::vector<Graph_Properties::loop_id_t> loop_ids;

};

struct Vertex_Properties
{
  Vertex_Properties();
  Vertex_Properties(Transformation t);

  void setId(RobotId robot, MapId map);
  void setId(Vertex id);
  void setFrame(jblas::vec7 x, jblas::sym_mat P);
  void setFrame(Transformation t);

  void getId(RobotId &robot, MapId &map) const;
  Vertex getId() const;

  Transformation getFrame() const;

private:
  unsigned int robot_id;
  unsigned int map_id;
  Transformation frame;
  double time_last_update;
};

}
}

#endif // GRAPHPROPERTIES_HPP