SpaSolver Class Reference

#include <SpaSolver.h>

Inheritance diagram for SpaSolver:

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 More...
void	reCompute ()
	SpaSolver ()
virtual	~SpaSolver ()
Public Member Functions inherited from karto::ScanSolver
	ScanSolver ()
Public Member Functions inherited from karto::Referenced
	Referenced ()

Private Attributes
karto::ScanSolver::IdPoseVector	corrections
SysSPA2d	m_Spa
ros::Time	mLastSPA

Additional Inherited Members
Public Types inherited from karto::ScanSolver
typedef List< Pair< kt_int32s, Pose2 > >	IdPoseVector
Protected Member Functions inherited from karto::ScanSolver
virtual void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()
kt_int32s	Reference () const
kt_int32s	Unreference () const
kt_int32s	UnreferenceNoDelete () const

Detailed Description

Definition at line 36 of file SpaSolver.h.

Constructor & Destructor Documentation

SpaSolver::SpaSolver

(

)

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

public: /** Solve!

Implements karto::ScanSolver.

Definition at line 43 of file SpaSolver.cpp.

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

karto::ScanSolver::IdPoseVector SpaSolver::corrections

private

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.

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

• SpaSolver.h
• SpaSolver.cpp