9 #ifndef GRAPH_SLAM_TYPES_H 10 #define GRAPH_SLAM_TYPES_H 28 template <
class GRAPH_T>
33 typedef typename graph_t::constraint_t
edge_t;
35 typedef mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions>
SE_TYPE;
37 typedef typename SE_TYPE::array_t
Array_O;
50 const typename gst::graph_t::constraint_t::type_value *
edge_mean;
51 typename gst::graph_t::constraint_t::type_value *
P1,*
P2;
54 typedef void (*
TFunctorFeedback)(
const GRAPH_T &graph,
const size_t iter,
const size_t max_iter,
const double cur_sq_error );
gst::edge_const_iterator edge
size_t num_iters
The number of LM iterations executed.
graphslam_traits< GRAPH_T > gst
GRAPH_T graph_t
Typ: mrpt::graphs::CNetworkOfPoses<...>
const Scalar * const_iterator
gst::graph_t::constraint_t::type_value * P1
Helper types for STL containers with Eigen memory allocators.
gst::graph_t::constraint_t::type_value * P2
mrpt::aligned_containers< mrpt::utils::TPairNodeIDs, TPairJacobs >::multimap_t map_pairIDs_pairJacobs_t
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...
std::pair< matrix_VxV_t, matrix_VxV_t > TPairJacobs
std::pair< TNodeID, TNodeID > TPairNodeIDs
A pair of node IDs.
Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...
void(* TFunctorFeedback)(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
edge_t::type_value edge_poses_type
Output information for mrpt::graphslam::optimize_graph_spa_levmarq()
graph_t::edges_map_t::const_iterator edge_const_iterator
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
const gst::graph_t::constraint_t::type_value * edge_mean
SE_TYPE::matrix_VxV_t matrix_VxV_t
double final_total_sq_error
The sum of all the squared errors for every constraint involved in the problem.
mrpt::poses::SE_traits< edge_poses_type::rotation_dimensions > SE_TYPE
graph_t::constraint_t edge_t