spa_2d_conversion.cpp File Reference

#include <pose_graph/spa_2d_conversion.h>
#include <sba/spa2d.h>
#include <pose_graph/constraint_graph.h>
#include <geometry_msgs/Pose.h>
#include <boost/shared_ptr.hpp>
#include <map>
#include <graph_mapping_utils/geometry.h>
#include <graph_mapping_utils/general.h>
#include <pose_graph/exception.h>
#include <pose_graph/graph_search.h>
#include <tf/transform_datatypes.h>
#include <boost/foreach.hpp>
#include <boost/tuple/tuple.hpp>
#include <boost/graph/connected_components.hpp>
#include <set>

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Namespaces
namespace	pose_graph
Typedefs
typedef std::pair< unsigned, unsigned >	pose_graph::NodePair
Functions
Spa2DConversionResult	pose_graph::constraintGraphToSpa2D (const ConstraintGraph &g, const NodePoseMap &init, const NodeSet &nodes)
tf::Pose	pose_graph::getNodePose (const sba::Node2d &n)
	Return the Pose corresponding to a spa node.
double	pose_graph::getYaw (const Quaterniond &q)
unsigned	pose_graph::index (const unsigned i, const unsigned j)
Node2d	pose_graph::makeNode (const double x, const double y, const double theta)
Con2dP2	pose_graph::makeSpa2DConstraint (const PoseWithPrecision &constraint)
NodePoseMap	pose_graph::optimizeGraph2D (const ConstraintGraph &g, const NodePoseMap &init, const NodeSet &nodes)
	Optimize a component of a graph using SPA 2d.
NodePoseMap	pose_graph::optimizeGraph2D (const ConstraintGraph &g, const NodePoseMap &init)
	Optimize a graph using SPA 2d init Initial estimates.
Eigen::Vector4d	pose_graph::quaternionMsgToVector4d (const geometry_msgs::Quaternion &m)
Eigen::Vector4d	pose_graph::translationToVector4d (const geometry_msgs::Point &p)
void	pose_graph::verifyConnected (const ConstraintGraph &g, const NodeSet &nodes)