#include "Eigen/Core"#include "Eigen/Geometry"#include "cartographer/transform/rigid_transform.h"#include "cartographer/transform/transform.h"#include "cartographer/mapping/internal/optimization/cost_functions/cost_helpers_impl.h"
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Namespaces | |
| namespace | cartographer |
| namespace | cartographer::mapping |
| namespace | cartographer::mapping::optimization |
Functions | |
| template<typename T > | |
| static std::array< T, 3 > | cartographer::mapping::optimization::ComputeUnscaledError (const transform::Rigid2d &relative_pose, const T *const start, const T *const end) |
| template<typename T > | |
| static std::array< T, 6 > | cartographer::mapping::optimization::ComputeUnscaledError (const transform::Rigid3d &relative_pose, const T *const start_rotation, const T *const start_translation, const T *const end_rotation, const T *const end_translation) |
| template<typename T > | |
| std::tuple< std::array< T, 4 > , std::array< T, 3 > > | cartographer::mapping::optimization::InterpolateNodes2D (const T *const prev_node_pose, const Eigen::Quaterniond &prev_node_gravity_alignment, const T *const next_node_pose, const Eigen::Quaterniond &next_node_gravity_alignment, const double interpolation_parameter) |
| template<typename T > | |
| std::tuple< std::array< T, 4 > , std::array< T, 3 > > | cartographer::mapping::optimization::InterpolateNodes3D (const T *const prev_node_rotation, const T *const prev_node_translation, const T *const next_node_rotation, const T *const next_node_translation, const double interpolation_parameter) |
| template<typename T > | |
| std::array< T, 3 > | cartographer::mapping::optimization::ScaleError (const std::array< T, 3 > &error, double translation_weight, double rotation_weight) |
| template<typename T > | |
| std::array< T, 6 > | cartographer::mapping::optimization::ScaleError (const std::array< T, 6 > &error, double translation_weight, double rotation_weight) |
| template<typename T > | |
| std::array< T, 4 > | cartographer::mapping::optimization::SlerpQuaternions (const T *const start, const T *const end, double factor) |