Classes | |
| class | CeresPose |
| class | LandmarkCostFunction2D |
| class | LandmarkCostFunction3D |
| struct | NodeSpec2D |
| struct | NodeSpec3D |
| class | OptimizationProblem2D |
| class | OptimizationProblem3D |
| class | OptimizationProblemInterface |
| class | SpaCostFunction3D |
| struct | SubmapSpec2D |
| struct | SubmapSpec3D |
Functions | |
| template<typename T > | |
| static std::array< T, 3 > | ComputeUnscaledError (const transform::Rigid2d &relative_pose, const T *const start, const T *const end) |
| template<typename T > | |
| static std::array< T, 6 > | 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) |
| ceres::CostFunction * | CreateAnalyticalSpaCostFunction (const PoseGraphInterface::Constraint::Pose &observed_relative_pose) |
| ceres::CostFunction * | CreateAutoDiffSpaCostFunction (const PoseGraphInterface::Constraint::Pose &observed_relative_pose) |
| proto::OptimizationProblemOptions | CreateOptimizationProblemOptions (common::LuaParameterDictionary *const parameter_dictionary) |
| CeresPose::Data | FromPose (const transform::Rigid3d &pose) |
| template<typename T > | |
| std::tuple< std::array< T, 4 > , std::array< T, 3 > > | 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 > > | 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 > | ScaleError (const std::array< T, 3 > &error, double translation_weight, double rotation_weight) |
| template<typename T > | |
| std::array< T, 6 > | ScaleError (const std::array< T, 6 > &error, double translation_weight, double rotation_weight) |
| template<typename T > | |
| std::array< T, 4 > | SlerpQuaternions (const T *const start, const T *const end, double factor) |
| static std::array<T, 3> cartographer::mapping::optimization::ComputeUnscaledError | ( | const transform::Rigid2d & | relative_pose, |
| const T *const | start, | ||
| const T *const | end | ||
| ) | [static] |
| 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 | ||
| ) | [static] |
| ceres::CostFunction * cartographer::mapping::optimization::CreateAnalyticalSpaCostFunction | ( | const PoseGraphInterface::Constraint::Pose & | observed_relative_pose | ) |
Definition at line 143 of file spa_cost_function_2d.cc.
| ceres::CostFunction * cartographer::mapping::optimization::CreateAutoDiffSpaCostFunction | ( | const PoseGraphInterface::Constraint::Pose & | observed_relative_pose | ) |
Definition at line 135 of file spa_cost_function_2d.cc.
| proto::OptimizationProblemOptions cartographer::mapping::optimization::CreateOptimizationProblemOptions | ( | common::LuaParameterDictionary *const | parameter_dictionary | ) |
Definition at line 25 of file optimization_problem_options.cc.
| CeresPose::Data cartographer::mapping::optimization::FromPose | ( | const transform::Rigid3d & | pose | ) |
Definition at line 23 of file ceres_pose.cc.
| 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 | ||
| ) |
Definition at line 157 of file cost_helpers_impl.h.
| 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 | ||
| ) |
Definition at line 135 of file cost_helpers_impl.h.
| std::array< T, 3 > cartographer::mapping::optimization::ScaleError | ( | const std::array< T, 3 > & | error, |
| double | translation_weight, | ||
| double | rotation_weight | ||
| ) |
Definition at line 46 of file cost_helpers_impl.h.
| std::array< T, 6 > cartographer::mapping::optimization::ScaleError | ( | const std::array< T, 6 > & | error, |
| double | translation_weight, | ||
| double | rotation_weight | ||
| ) |
Definition at line 89 of file cost_helpers_impl.h.
| std::array< T, 4 > cartographer::mapping::optimization::SlerpQuaternions | ( | const T *const | start, |
| const T *const | end, | ||
| double | factor | ||
| ) |
Definition at line 106 of file cost_helpers_impl.h.