SLAM methods related to graphs of pose constraints.
Namespaces | |
namespace | detail |
Internal auxiliary classes. | |
Classes | |
struct | graphslam_traits |
Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names. More... | |
struct | TResultInfoSpaLevMarq |
Output information for mrpt::graphslam::optimize_graph_spa_levmarq() More... | |
Functions | |
template<class GRAPH_T > | |
void | optimize_graph_spa_levmarq (GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::utils::TNodeID > *in_nodes_to_optimize=NULL, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), typename graphslam_traits< GRAPH_T >::TFunctorFeedback functor_feedback=NULL) |
Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquardt optimizer. More... | |
template<class GRAPH_T > | |
double | computeJacobiansAndErrors (const GRAPH_T &graph, const std::vector< typename graphslam_traits< GRAPH_T >::observation_info_t > &lstObservationData, typename graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t &lstJacobians, typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t &errs) |
double mrpt::graphslam::computeJacobiansAndErrors | ( | const GRAPH_T & | graph, |
const std::vector< typename graphslam_traits< GRAPH_T >::observation_info_t > & | lstObservationData, | ||
typename graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t & | lstJacobians, | ||
typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t & | errs | ||
) |
Definition at line 149 of file levmarq_impl.h.
References MRPT_ALIGN16, MRPT_UNUSED_PARAM, and mrpt::poses::UNINITIALIZED_POSE.
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