graph_optimizer_sparse_online.cpp File Reference

#include "types_slam2d_online.h"
#include "types_slam3d_online.h"
#include "graph_optimizer_sparse_online.h"
#include "g2o/stuff/macros.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver_factory.h"
#include "g2o/solvers/pcg/linear_solver_pcg.h"
#include <iostream>
#include <iomanip>
#include <fstream>

Include dependency graph for graph_optimizer_sparse_online.cpp:

Go to the source code of this file.

Namespaces
namespace	g2o
	Executes code, only if secs are gone since last exec.
Defines
#define	ALLOC_PCG(s, p, l)
#define	DIM_TO_SOLVER(p, l)   BlockSolver< BlockSolverTraits<p, l> >
Functions
static Solver *	g2o::createSolver (SparseOptimizer *opt, const std::string &solverName)

---

Define Documentation

#define ALLOC_PCG	(		s,
			p,
			l
	)

Value:

if (1) { \
    std::cerr << "# Using PCG online poseDim " << p << " landMarkDim " << l << " blockordering 1" << std::endl; \
    LinearSolverPCG< DIM_TO_SOLVER(p, l)::PoseMatrixType >* linearSolver = new LinearSolverPCG<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
    linearSolver->setMaxIterations(6); \
    s = new DIM_TO_SOLVER(p, l)(opt, linearSolver); \
  } else (void)0

Definition at line 35 of file graph_optimizer_sparse_online.cpp.

#define DIM_TO_SOLVER	(		p,
			l
	)		BlockSolver< BlockSolverTraits<p, l> >

Definition at line 33 of file graph_optimizer_sparse_online.cpp.