#include <spa_solver.h>

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.

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

Definition at line 67 of file spa_solver.cpp.

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

Definition at line 60 of file spa_solver.cpp.

void SpaSolver::Clear ( ) [virtual]

Definition at line 33 of file spa_solver.cpp.

void SpaSolver::Compute ( ) [virtual]

Definition at line 43 of file spa_solver.cpp.

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

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.

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.

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