graph_slam.h File Reference

#include <mrpt/poses/CNetworkOfPoses.h>
#include <mrpt/poses/SE_traits.h>
#include <mrpt/slam/link_pragmas.h>

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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.