levmarq.h File Reference

#include <mrpt/containers/stl_containers_utils.h>
#include <mrpt/graphslam/types.h>
#include <mrpt/math/CSparseMatrix.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/system/TParameters.h>
#include <map>
#include <memory>
#include <mrpt/graphslam/levmarq_impl.h>

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Namespaces
	mrpt::graphslam
	SLAM methods related to graphs of pose constraints.

Functions
template<class GRAPH_T , class FEEDBACK_CALLABLE = typename graphslam_traits<GRAPH_T>::TFunctorFeedback>
void	mrpt::graphslam::optimize_graph_spa_levmarq (GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::graphs::TNodeID > *in_nodes_to_optimize=nullptr, const mrpt::system::TParametersDouble &extra_params=mrpt::system::TParametersDouble(), FEEDBACK_CALLABLE functor_feedback=FEEDBACK_CALLABLE())
	Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquardt optimizer. More...