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levmarq.h File Reference
#include <mrpt/graphslam/types.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/utils/stl_containers_utils.h>
#include <mrpt/graphslam/levmarq_impl.h>
#include <iterator>
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 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 SLAM methods related to graphs of pose constraints.


template<class GRAPH_T >
void mrpt::graphslam::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...

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