pose_graph_optimizers.h File Reference

#include <mrpt/poses/constrained_pose_network.h>

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Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Porgramming Toolkit (MRPT) libraries.
namespace	mrpt::slam
	This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
Functions
template<class CPOSE >
double MRPTDLLIMPEXP	mrpt::slam::optimizePoseGraph_levmarq (const mrpt::poses::CNetworkOfPoses< CPOSE > &pose_graph, std::map< size_t, CPOSE > &optimal_poses, const size_t max_iterations=100, const size_t origin_pose=static_cast< size_t >(-1))
	An algorithm for optimizing a network of 2D or 3D pose links based on Levenberg-Marquardt error minimization.
template<class CPOSE >
double MRPTDLLIMPEXP	mrpt::slam::optimizePoseGraph_stogradesc (const mrpt::poses::CNetworkOfPoses< CPOSE > &pose_graph, std::map< size_t, CPOSE > &optimal_poses, const size_t max_iterations=100, const size_t origin_pose=static_cast< size_t >(-1))
	An algorithm for optimizing a network of 2D or 3D pose links based on stochastic gradient descent.