#include <nav2d_karto/spa2d.h>#include <stdio.h>#include <Eigen/Cholesky>#include <iostream>#include <iomanip>#include <fstream>#include <sys/time.h>
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Functions | |
| static int | getind (std::map< int, int > &m, int ind) |
| static long long | utime () |
Function Documentation
| static int getind | ( | std::map< int, int > & | m, |
| int | ind | ||
| ) | [inline, static] |
Run the LM algorithm that computes a nonlinear SPA estimate. <window> is the number of nodes in the window, the last nodes added <niter> is the max number of iterations to perform; returns the number actually performed. <lambda> is the diagonal augmentation for LM. <useCSParse> = 0 for dense Cholesky, 1 for sparse Cholesky, 2 for sparse PCG