MRPT  1.9.9
mrpt::graphslam Namespace Reference

Detailed Description

SLAM methods related to graphs of pose constraints.

See also


 Internal auxiliary classes.


class  CGraphSlamEngine
 Main file for the GraphSlamEngine. More...
class  CRegistrationDeciderOrOptimizer
 Interface for implementing node/edge registration deciders or optimizer classes. More...
class  CWindowManager
 Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWindowObserver instances. More...
class  CWindowObserver
 Monitor events in the visualization window. More...
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...
struct  TSlidingWindow
 Class to monitor the evolution of a statistical quantity. More...
struct  TUncertaintyPath
 Holds the data of an information path. More...


template<class GRAPH_T >
void 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(), typename graphslam_traits< GRAPH_T >::TFunctorFeedback functor_feedback=typename graphslam_traits< GRAPH_T >::TFunctorFeedback())
 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, mrpt::aligned_std_vector< typename graphslam_traits< GRAPH_T >::Array_O > &errs)

Function Documentation

◆ computeJacobiansAndErrors()

template<class GRAPH_T >
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,
mrpt::aligned_std_vector< typename graphslam_traits< GRAPH_T >::Array_O > &  errs 

Definition at line 238 of file levmarq_impl.h.


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