#include <sba/spa2d.h>
#include <pose_graph/pose_graph.h>
#include <geometry_msgs/Pose.h>
#include <boost/shared_ptr.hpp>
#include <map>

Include dependency graph for spa_2d_conversion.h:

This graph shows which files directly or indirectly include this file:

Classes
struct	pose_graph::Spa2DConversionResult
Namespaces
namespace	pose_graph
Defines
#define	NPRINT
Typedefs
typedef std::map< NodeId, unsigned >	pose_graph::NodeIndexMap
typedef boost::shared_ptr < sba::SysSPA2d >	pose_graph::Spa2DPtr
Functions
geometry_msgs::Pose	pose_graph::getNodePose (const sba::Node2d &n)
	Return the Pose corresponding to a spa node.
NodePoseMap	pose_graph::optimizeGraph2D (const PoseGraph &g)
	Optimize a graph using SPA 2d.
Spa2DConversionResult	pose_graph::poseGraphToSpa2D (const PoseGraph &pose_graph)
	Convert a pose graph into a SysSPA object and return it.

Detailed Description

Code to convert between PoseGraph to sba::SysSPA2D

Definition in file spa_2d_conversion.h.

Define Documentation

#define NPRINT

Definition at line 43 of file spa_2d_conversion.h.