mrpt::srba::internal Namespace Reference

Classes
struct	recompute_all_Jacobians_dh_df
	Auxiliary template for evaluating the dh_df part in recompute_all_Jacobians(). More...
struct	recompute_all_Jacobians_dh_df< jacob_point_landmark >
struct	recompute_all_Jacobians_dh_df< jacob_relpose_landmark >
struct	solver_engine
	Generic solver declaration. More...
struct	solver_engine< false, false, RBA_ENGINE >
	SOLVER: Lev-Marq without Schur, with Sparse Cholesky (CSparse library) More...
struct	solver_engine< true, false, RBA_ENGINE >
	SOLVER: Lev-Marq with Schur, with Sparse Cholesky (CSparse library) More...
struct	solver_engine< true, true, RBA_ENGINE >
	SOLVER: Lev-Marq with Schur, with Sparse Cholesky (CSparse library) More...

Typedefs
typedef std::auto_ptr< mrpt::math::CSparseMatrix::CholeskyDecomp >	SparseCholeskyDecompPtr

Functions
template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >
void	recursive_print_st_dot (std::set< std::pair< std::string, std::string > > &all_edges, const std::string &prefix, const TKeyFrameID came_from, const TKeyFrameID root, const std::map< TKeyFrameID, TSpanTreeEntry > &root_entries, const typename TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::next_edge_maps_t &all, std::set< TKeyFrameID > &visited, const std::map< TKeyFrameID, TSpanTreeEntry > &top_root_entries)

Typedef Documentation

typedef std::auto_ptr<mrpt::math::CSparseMatrix::CholeskyDecomp> mrpt::srba::internal::SparseCholeskyDecompPtr

Definition at line 22 of file lev-marq_solvers.h.

Function Documentation

template<class KF2KF_POSE_TYPE , class LM_TYPE , class OBS_TYPE , class RBA_OPTIONS >

void mrpt::srba::internal::recursive_print_st_dot	(	std::set< std::pair< std::string, std::string > > &	all_edges,
		const std::string &	prefix,
		const TKeyFrameID	came_from,
		const TKeyFrameID	root,
		const std::map< TKeyFrameID, TSpanTreeEntry > &	root_entries,
		const typename TRBA_Problem_state< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSpanningTree::next_edge_maps_t &	all,
		std::set< TKeyFrameID > &	visited,
		const std::map< TKeyFrameID, TSpanTreeEntry > &	top_root_entries
	)

Definition at line 86 of file spantree_misc.h.

References ASSERT_, mrpt::utils::map_as_vector< KEY, VALUE, VECTOR_T >::end(), mrpt::utils::map_as_vector< KEY, VALUE, VECTOR_T >::find(), and mrpt::mrpt::format().