#include <OptimizationInterface.h>
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 |
Friends | |
| 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
| isam::OptimizationInterface::OptimizationInterface | ( | ) | [inline] |
Definition at line 60 of file OptimizationInterface.h.
| virtual isam::OptimizationInterface::~OptimizationInterface | ( | ) | [inline, virtual] |
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.
| virtual SparseSystem isam::OptimizationInterface::jacobian | ( | ) | [pure virtual] |
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
SparseSystem isam::OptimizationInterface::_R [protected] |
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: