Template Class CGraphSlamOptimizer

Defined in File CGraphSlamOptimizer.h

Inheritance Relationships

Base Type

public mrpt::graphslam::CRegistrationDeciderOrOptimizer< typename mrpt::graphs::CNetworkOfPoses2DInf > (Template Class CRegistrationDeciderOrOptimizer)

Class Documentation

template<class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf> class CGraphSlamOptimizer : public virtual mrpt::graphslam::CRegistrationDeciderOrOptimizer<typename mrpt::graphs::CNetworkOfPoses2DInf>

Interface for implementing graphSLAM optimizer classes.

Class should provide a generic interface from which real optimizers should inherit so that they abide to the necessary method calls used in the CGraphSlamEngine class. For an example of inheriting from this class see CLevMarqGSO.

Note

As a naming convention, all the implemented graphslam optimizer classes are suffixed with the GSO acronym.

Public Types

using constraint_t = typename GRAPH_t::constraint_t

using pose_t = typename GRAPH_t::constraint_t::type_value

Public Functions

CGraphSlamOptimizer() = default

~CGraphSlamOptimizer() override = default

inline virtual bool justFullyOptimizedGraph() const: Used by the caller to query for possible full graph optimization on the latest optimizer run.

Protected Functions

virtual void optimizeGraph() = 0: method called for optimizing the underlying graph.