#include <stdio.h>
#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/StdVector>
#include <vector>
#include <nav2d_karto/csparse.h>

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Classes
class	Con2dP2
class	Node2d
class	SysSPA2d
	SysSPA2d holds a set of nodes and constraints for sparse pose adjustment. More...
Defines
#define	EIGEN_USE_NEW_STDVECTOR
#define	SBA_BLOCK_JACOBIAN_PCG 3
#define	SBA_DENSE_CHOLESKY 0
#define	SBA_GRADIENT 2
#define	SBA_SPARSE_CHOLESKY 1
Functions
bool	read2dP2File (char *fname, SysSPA2d spa)
	constraint files