Public Member Functions | Protected Attributes | Friends
isam::OptimizationInterface Class Reference

#include <OptimizationInterface.h>

Inheritance diagram for isam::OptimizationInterface:
Inheritance graph

List of all members.

Public Member Functions

virtual void apply_exmap (const Eigen::VectorXd &delta)=0
virtual void estimate_to_linpoint ()=0
virtual SparseSystem jacobian ()=0
virtual void linpoint_to_estimate ()=0
 OptimizationInterface ()
virtual void self_exmap (const Eigen::VectorXd &delta)=0
virtual void swap_estimates ()=0
virtual Eigen::VectorXd weighted_errors (Selector s=ESTIMATE)=0
virtual ~OptimizationInterface ()

Protected Attributes

SparseSystem _R


class Optimizer

Detailed Description

Abstract base class providing an interface between the nonlinear system to be optimized (stored in the Nodes of the Graph constructed in the SLAM) and the Optimization class that actually performs the optimizations.

Definition at line 44 of file OptimizationInterface.h.

Constructor & Destructor Documentation

Definition at line 60 of file OptimizationInterface.h.

Definition at line 62 of file OptimizationInterface.h.

Member Function Documentation

virtual void isam::OptimizationInterface::apply_exmap ( const Eigen::VectorXd &  delta) [pure virtual]

Implemented in isam::Slam.

virtual void isam::OptimizationInterface::estimate_to_linpoint ( ) [pure virtual]

Implemented in isam::Slam.

Implemented in isam::Slam.

virtual void isam::OptimizationInterface::linpoint_to_estimate ( ) [pure virtual]

Implemented in isam::Slam.

virtual void isam::OptimizationInterface::self_exmap ( const Eigen::VectorXd &  delta) [pure virtual]

Implemented in isam::Slam.

virtual void isam::OptimizationInterface::swap_estimates ( ) [pure virtual]

Implemented in isam::Slam.

virtual Eigen::VectorXd isam::OptimizationInterface::weighted_errors ( Selector  s = ESTIMATE) [pure virtual]

Implemented in isam::Slam.

Friends And Related Function Documentation

friend class Optimizer [friend]

Definition at line 64 of file OptimizationInterface.h.

Member Data Documentation

Factored Jacobian about the current linearization point.

Definition at line 49 of file OptimizationInterface.h.

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

Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:09