SpaSolver Class Reference

#include <spa_solver.h>

Inheritance diagram for SpaSolver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)
virtual void AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)
virtual void Clear ()
virtual void Compute ()
virtual const
karto::ScanSolver::IdPoseVector
GetCorrections () const
void getGraph (std::vector< float > &g)
 x,y -> x',y' 4 floats per connection
 SpaSolver ()
virtual ~SpaSolver ()

Private Attributes

karto::ScanSolver::IdPoseVector corrections
sba::SysSPA2d m_Spa

Detailed Description

Definition at line 34 of file spa_solver.h.


Constructor & Destructor Documentation

SpaSolver::SpaSolver (  ) 

Definition at line 23 of file spa_solver.cpp.

SpaSolver::~SpaSolver (  )  [virtual]

Definition at line 28 of file spa_solver.cpp.


Member Function Documentation

void SpaSolver::AddConstraint ( karto::Edge< karto::LocalizedRangeScan > *   )  [virtual]

Adds a constraint to the solver

Parameters:
pEdge 

Reimplemented from karto::ScanSolver.

Definition at line 67 of file spa_solver.cpp.

void SpaSolver::AddNode ( karto::Vertex< karto::LocalizedRangeScan > *   )  [virtual]

Adds a node to the solver

Parameters:
pVertex 

Reimplemented from karto::ScanSolver.

Definition at line 60 of file spa_solver.cpp.

void SpaSolver::Clear (  )  [virtual]

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 33 of file spa_solver.cpp.

void SpaSolver::Compute (  )  [virtual]

Solve!

Implements karto::ScanSolver.

Definition at line 43 of file spa_solver.cpp.

const karto::ScanSolver::IdPoseVector & SpaSolver::GetCorrections (  )  const [virtual]

Get corrected poses after optimization

Returns:
optimized poses

Implements karto::ScanSolver.

Definition at line 38 of file spa_solver.cpp.

void SpaSolver::getGraph ( std::vector< float > &  g  )  [inline]

x,y -> x',y' 4 floats per connection

Definition at line 51 of file spa_solver.h.


Member Data Documentation

Definition at line 54 of file spa_solver.h.

sba::SysSPA2d SpaSolver::m_Spa [private]

Definition at line 56 of file spa_solver.h.


The documentation for this class was generated from the following files:
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karto
Author(s): SRI International (package maintained by Brian Gerkey)
autogenerated on Fri Jan 11 10:07:04 2013