SpaSolver Class Reference

#include <spa_solver.h>

Inheritance diagram for SpaSolver:

[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

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Detailed Description

Definition at line 34 of file spa_solver.h.

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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.

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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.

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Member Data Documentation

karto::ScanSolver::IdPoseVector SpaSolver::corrections [private]

Definition at line 54 of file spa_solver.h.

sba::SysSPA2d SpaSolver::m_Spa [private]

Definition at line 56 of file spa_solver.h.

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The documentation for this class was generated from the following files:

• spa_solver.h
• spa_solver.cpp