SpaSolver Class Reference

#include <SpaSolver.h>

Inheritance diagram for SpaSolver:

Public Member Functions
virtual void	AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)
virtual void	AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)
virtual void	Clear ()
virtual void	Compute ()
virtual const karto::ScanSolver::IdPoseVector &	GetCorrections () const
	SpaSolver ()
virtual	~SpaSolver ()
Public Member Functions inherited from karto::ScanSolver
virtual void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
	ScanSolver ()
virtual	~ScanSolver ()

Private Attributes
karto::ScanSolver::IdPoseVector	corrections
sba::SysSPA2d	m_Spa

Additional Inherited Members
Public Types inherited from karto::ScanSolver
typedef std::vector< std::pair< kt_int32s, Pose2 > >	IdPoseVector

Detailed Description

Definition at line 34 of file SpaSolver.h.

Constructor & Destructor Documentation

SpaSolver::SpaSolver

(

)

Definition at line 21 of file SpaSolver.cpp.

SpaSolver::~SpaSolver ( )

virtual

Definition at line 26 of file SpaSolver.cpp.

Member Function Documentation

void SpaSolver::AddConstraint ( karto::Edge< karto::LocalizedRangeScan > *  )

virtual

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 65 of file SpaSolver.cpp.

void SpaSolver::AddNode ( karto::Vertex< karto::LocalizedRangeScan > *  )

virtual

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 58 of file SpaSolver.cpp.

void SpaSolver::Clear ( )

virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 31 of file SpaSolver.cpp.

void SpaSolver::Compute ( )

virtual

Solve!

Implements karto::ScanSolver.

Definition at line 41 of file SpaSolver.cpp.

const karto::ScanSolver::IdPoseVector & SpaSolver::GetCorrections ( ) const

virtual

Get corrected poses after optimization

Returns

optimized poses

Implements karto::ScanSolver.

Definition at line 36 of file SpaSolver.cpp.

Member Data Documentation

karto::ScanSolver::IdPoseVector SpaSolver::corrections

private

Definition at line 49 of file SpaSolver.h.

sba::SysSPA2d SpaSolver::m_Spa

private

Definition at line 51 of file SpaSolver.h.

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The documentation for this class was generated from the following files:

• SpaSolver.h
• SpaSolver.cpp