cartographer: spa_cost_function

Go to the documentation of this file.
00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_
00019 
00020 #include "cartographer/mapping/pose_graph_interface.h"
00021 #include "ceres/ceres.h"
00022 
00023 namespace cartographer {
00024 namespace mapping {
00025 namespace optimization {
00026 
00027 ceres::CostFunction* CreateAutoDiffSpaCostFunction(
00028     const PoseGraphInterface::Constraint::Pose& pose);
00029 
00030 ceres::CostFunction* CreateAnalyticalSpaCostFunction(
00031     const PoseGraphInterface::Constraint::Pose& pose);
00032 
00033 }  // namespace optimization
00034 }  // namespace mapping
00035 }  // namespace cartographer
00036 
00037 #endif  // CARTOGRAPHER_MAPPING_INTERNAL_OPTIMIZATION_COST_FUNCTIONS_SPA_COST_FUNCTION_2D_H_