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glc.cpp File Reference

Generic Linear Constraint functions. More...

#include <vector>
#include "isam/glc.h"
#include "isam/util.h"
#include "isam/Rot3d.h"
#include "isam/ChowLiuTree.h"
Include dependency graph for glc.cpp:

Go to the source code of this file.

Namespaces

namespace  isam

Defines

#define GLC_EPS   1e-8
#define GLC_INCLUDE_IC_FACTORS

Functions

MatrixXd isam::glc_cholcov (MatrixXd A, double eps=numeric_limits< float >::epsilon())
std::vector< isam::Node * > isam::glc_elim_clique_nodes (Node *node)
std::vector< Factor * > isam::glc_elim_factors (Node *node)
Factor * isam::glc_factor (const MatrixXd &L, const vector< Node * > &clique_nodes, GLC_Reparam *rp)
MatrixXd isam::glc_get_weighted_jacobian (isam::Factor *f)
vector< Factor * > isam::glc_intra_clique_factors (vector< Node * > clique_nodes, Node *node)
vector< Factor * > isam::glc_lift_factors (const MatrixXd &L, const vector< Node * > &clique_nodes, bool sparse, GLC_Reparam *rp)
std::vector< Factor * > isam::glc_remove_node (Slam &slam, Node *node, bool sparse=false, GLC_Reparam *rp=NULL)
MatrixXd isam::glc_target_info (Node *node, vector< Node * > &clique_nodes, vector< Factor * > &ic_factors)

Detailed Description

Generic Linear Constraint functions.

Author:
Nicholas Carlevaris-Bianco
Michael Kaess
Version:
Id:
covariance.cpp 4975 2011-07-13 17:49:09Z kaess

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <http://www.gnu.org/licenses/>.

Definition in file glc.cpp.


Define Documentation

#define GLC_EPS   1e-8

Definition at line 36 of file glc.cpp.

Definition at line 37 of file glc.cpp.



demo_lidar
Author(s): Ji Zhang
autogenerated on Sun Mar 1 2015 11:30:50