#include <SpaSolver.h>
Public Member Functions | |
| virtual void | AddConstraint (karto::Edge< karto::LocalizedObjectPtr > *pEdge) |
| virtual void | AddNode (karto::Vertex< karto::LocalizedObjectPtr > *pVertex) |
| virtual void | Clear () |
| virtual void | Compute () |
| virtual const karto::ScanSolver::IdPoseVector & | GetCorrections () const |
| void | getGraph (std::vector< float > &g) |
| x,y -> x',y' 4 floats per connection | |
| void | reCompute () |
| SpaSolver () | |
| virtual | ~SpaSolver () |
Private Attributes | |
| karto::ScanSolver::IdPoseVector | corrections |
| SysSPA2d | m_Spa |
| ros::Time | mLastSPA |
Detailed Description
Definition at line 36 of file SpaSolver.h.
Constructor & Destructor Documentation
Definition at line 22 of file SpaSolver.cpp.
| SpaSolver::~SpaSolver | ( | ) | [virtual] |
Definition at line 28 of file SpaSolver.cpp.
Member Function Documentation
| void SpaSolver::AddConstraint | ( | karto::Edge< karto::LocalizedObjectPtr > * | ) | [virtual] |
Adds a constraint to the solver
Reimplemented from karto::ScanSolver.
Definition at line 74 of file SpaSolver.cpp.
| void SpaSolver::AddNode | ( | karto::Vertex< karto::LocalizedObjectPtr > * | ) | [virtual] |
Adds a node to the solver
Reimplemented from karto::ScanSolver.
Definition at line 67 of file SpaSolver.cpp.
| void SpaSolver::Clear | ( | ) | [virtual] |
Resets the solver
Reimplemented from karto::ScanSolver.
Definition at line 33 of file SpaSolver.cpp.
| void SpaSolver::Compute | ( | ) | [virtual] |
| const karto::ScanSolver::IdPoseVector & SpaSolver::GetCorrections | ( | ) | const [virtual] |
Gets corrected poses after optimization
- Returns:
- optimized poses
Implements karto::ScanSolver.
Definition at line 38 of file SpaSolver.cpp.
| void SpaSolver::getGraph | ( | std::vector< float > & | g | ) | [inline] |
x,y -> x',y' 4 floats per connection
Definition at line 53 of file SpaSolver.h.
| void SpaSolver::reCompute | ( | ) |
Definition at line 60 of file SpaSolver.cpp.
Member Data Documentation
Definition at line 57 of file SpaSolver.h.
SysSPA2d SpaSolver::m_Spa [private] |
Definition at line 59 of file SpaSolver.h.
ros::Time SpaSolver::mLastSPA [private] |
Definition at line 61 of file SpaSolver.h.
The documentation for this class was generated from the following files: