#include <mrpt/poses/CNetworkOfPoses.h>
#include <mrpt/poses/SE_traits.h>
#include <mrpt/slam/link_pragmas.h>
Go to the source code of this file.
Classes | |
struct | mrpt::graphslam::graphslam_traits< EDGE_TYPE, MAPS_IMPLEMENTATION > |
Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names. More... | |
struct | mrpt::graphslam::graphslam_traits< EDGE_TYPE, MAPS_IMPLEMENTATION >::observation_info_t |
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account. More... | |
struct | mrpt::graphslam::TResultInfoSpaLevMarq |
Output information for mrpt::graphslam::optimize_graph_spa_levmarq() More... | |
Namespaces | |
namespace | mrpt |
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. | |
namespace | mrpt::graphslam |
SLAM methods related to graphs of pose constraints. | |
Functions | |
template<class EDGE_TYPE , class MAPS_IMPLEMENTATION > | |
void SLAM_IMPEXP | mrpt::graphslam::optimize_graph_spa_levmarq (mrpt::poses::CNetworkOfPoses< EDGE_TYPE, MAPS_IMPLEMENTATION > &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::utils::TNodeID > *nodes_to_optimize=NULL, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), typename graphslam_traits< EDGE_TYPE, MAPS_IMPLEMENTATION >::TFunctorFeedback functor_feedback=NULL) |
Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquartd optimizer. |
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