Struct PoseGraph 

pub struct PoseGraph { /* private fields */ }

Pose graph with absolute node estimates and relative constraints.

Implementations

impl PoseGraph

pub fn new() -> Self

Creates an empty pose graph.

pub fn upsert_node(&mut self, id: impl Into<PoseNodeId>, pose: StampedPose)

Inserts or replaces a node estimate.

pub fn add_edge(&mut self, edge: PoseGraphEdge) -> MappingResult<()>

Adds a relative constraint.

pub fn nodes(&self) -> &HashMap<String, StampedPose>

Returns node estimates.

pub fn edges(&self) -> &[PoseGraphEdge]

Returns relative edges.

pub fn localize_from_root(&mut self, root: &PoseNodeId) -> MappingResult<()>

Propagates complete poses through the directed non-loop tree rooted at root.

Stored isometries use node_T_anchor, with to_T_anchor = to_T_from * from_T_anchor. The original root and all stamps remain fixed; disconnected components and loop-closure edges are untouched. Callers needing anchor_T_node explicitly invert the resulting isometry.

The reachable non-loop component must be a tree: cycles, duplicate edges and multiple incoming paths return MappingError::Graph. Non-finite reachable transforms or composed results also fail. Every failure leaves the graph unchanged. Work and temporary storage are O(nodes + edges).

pub fn loop_closure_candidates( &self, max_distance: f32, ) -> Vec<(PoseNodeId, PoseNodeId)>

Suggests loop closures for nodes within max_distance translation of each other.

Trait Implementations

impl Clone for PoseGraph

fn clone(&self) -> PoseGraph

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for PoseGraph

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PoseGraph

fn default() -> PoseGraph

Returns the “default value” for a type.

impl PartialEq for PoseGraph

fn eq(&self, other: &PoseGraph) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for PoseGraph