Struct Graph 

pub struct Graph {
    pub vertices_se2: HashMap<usize, VertexSE2>,
    pub vertices_se3: HashMap<usize, VertexSE3>,
    pub edges_se2: Vec<EdgeSE2>,
    pub edges_se3: Vec<EdgeSE3>,
}

Main graph structure containing vertices and edges

Fields

vertices_se2: HashMap<usize, VertexSE2>

vertices_se3: HashMap<usize, VertexSE3>

edges_se2: Vec<EdgeSE2>

edges_se3: Vec<EdgeSE3>

Implementations

impl Graph

pub fn new() -> Self

pub fn vertex_count(&self) -> usize

pub fn edge_count(&self) -> usize

pub fn from_optimized_variables( variables: &HashMap<String, VariableEnum>, original_edges: &Self, ) -> Self

Create a new graph from optimized variables, keeping the original edges

This is useful for saving optimization results: vertices are updated with optimized poses, while edges (constraints) remain the same.

Arguments

• variables - collections::HashMap of optimized variable values from solver
• original_edges - Reference to original graph to copy edges from

Returns

A new Graph with optimized vertices and original edges

Trait Implementations

impl Clone for Graph

fn clone(&self) -> Graph

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Default for Graph

fn default() -> Self

Returns the “default value” for a type.

impl Display for Graph

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

Formats the value using the given formatter.