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mrpt::graphslam Namespace Reference

Detailed Description

SLAM methods related to graphs of pose constraints.

See also
mrpt::graphs::CNetworkOfPoses

Namespaces

 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-Marquartd optimizer. More...
 
template<class GRAPH_T >
double computeJacobiansAndErrors (const GRAPH_T &graph, const 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)
 

Function Documentation

◆ computeJacobiansAndErrors()

template<class GRAPH_T >
double mrpt::graphslam::computeJacobiansAndErrors ( const GRAPH_T &  graph,
const 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 112 of file levmarq_impl.h.

References mrpt::poses::UNINITIALIZED_POSE.




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