solver_plugins::SpaSolver Class Reference

#include <spa_solver.hpp>

Inheritance diagram for solver_plugins::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
virtual void	getGraph (std::vector< Eigen::Vector2d > &g)
virtual void	ModifyNode (const int &unique_id, const Eigen::Vector3d &pose)
	SpaSolver ()
virtual	~SpaSolver ()
Public Member Functions inherited from karto::ScanSolver
virtual std::unordered_map< int, Eigen::Vector3d > *	getGraph ()
virtual void	GetNodeOrientation (const int &unique_id, double &pose)
virtual void	ModifyNode (const int &unique_id, Eigen::Vector3d pose)
virtual void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
virtual void	Reset ()
	ScanSolver ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
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 spa_solver.hpp.

Constructor & Destructor Documentation

SpaSolver()

solver_plugins::SpaSolver::SpaSolver

(

)

Definition at line 31 of file spa_solver.cpp.

~SpaSolver()

solver_plugins::SpaSolver::~SpaSolver ( )

virtual

Definition at line 38 of file spa_solver.cpp.

Member Function Documentation

AddConstraint()

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

virtual

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 85 of file spa_solver.cpp.

AddNode()

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

virtual

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 76 of file spa_solver.cpp.

Clear()

void solver_plugins::SpaSolver::Clear ( )

virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 45 of file spa_solver.cpp.

Compute()

void solver_plugins::SpaSolver::Compute ( )

virtual

Solve!

Implements karto::ScanSolver.

Definition at line 57 of file spa_solver.cpp.

GetCorrections()

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

virtual

Get corrected poses after optimization

Returns

optimized poses

Implements karto::ScanSolver.

Definition at line 51 of file spa_solver.cpp.

getGraph()

void solver_plugins::SpaSolver::getGraph ( std::vector< Eigen::Vector2d > &  g )

virtual

Definition at line 108 of file spa_solver.cpp.

ModifyNode()

virtual void solver_plugins::SpaSolver::ModifyNode ( const int &  unique_id, const Eigen::Vector3d &  pose  )

virtual

Member Data Documentation

corrections

karto::ScanSolver::IdPoseVector solver_plugins::SpaSolver::corrections

private

Definition at line 53 of file spa_solver.hpp.

m_Spa

sba::SysSPA2d solver_plugins::SpaSolver::m_Spa

private

Definition at line 55 of file spa_solver.hpp.

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

• spa_solver.hpp
• spa_solver.cpp