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levmarq_impl.h File Reference
#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/math/CSparseMatrix.h>
#include <memory>
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struct  mrpt::graphslam::detail::AuxErrorEval< EDGE, gst >
struct  mrpt::graphslam::detail::AuxErrorEval< CPose2D, gst >
struct  mrpt::graphslam::detail::AuxErrorEval< CPose3D, gst >
struct  mrpt::graphslam::detail::AuxErrorEval< CPosePDFGaussianInf, gst >
struct  mrpt::graphslam::detail::AuxErrorEval< CPose3DPDFGaussianInf, gst >


 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 SLAM methods related to graphs of pose constraints.
 Internal auxiliary classes.


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, typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t &errs)

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