G2oSolver.h
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00001 #ifndef KARTO_G2OSOLVER_H
00002 #define KARTO_G2OSOLVER_H
00003 
00004 #include "OpenKarto/OpenMapper.h"
00005 
00006 #include "g2o/core/sparse_optimizer.h"
00007 
00008 class G2oSolver : public karto::ScanSolver
00009 {
00010 public:
00011         G2oSolver();
00012         virtual ~G2oSolver();
00013 
00014 public:
00015         virtual void Clear();
00016         virtual void Compute();
00017         virtual const karto::ScanSolver::IdPoseVector& GetCorrections() const;
00018 
00019         virtual void AddNode(karto::Vertex<karto::LocalizedObjectPtr>* pVertex);
00020         virtual void AddConstraint(karto::Edge<karto::LocalizedObjectPtr>* pEdge);
00021 
00022 
00023 private:
00024         karto::ScanSolver::IdPoseVector mCorrections;
00025         g2o::SparseOptimizer mOptimizer;
00026 };
00027 
00028 #endif
00029 


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Thu Aug 27 2015 14:07:25