#include <SpaSolver.h>
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 |
Definition at line 34 of file SpaSolver.h.
SpaSolver::SpaSolver | ( | ) |
Definition at line 21 of file SpaSolver.cpp.
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virtual |
Definition at line 26 of file SpaSolver.cpp.
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virtual |
Adds a constraint to the solver
Reimplemented from karto::ScanSolver.
Definition at line 65 of file SpaSolver.cpp.
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virtual |
Adds a node to the solver
Reimplemented from karto::ScanSolver.
Definition at line 58 of file SpaSolver.cpp.
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virtual |
Resets the solver
Reimplemented from karto::ScanSolver.
Definition at line 31 of file SpaSolver.cpp.
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virtual |
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virtual |
Get corrected poses after optimization
Implements karto::ScanSolver.
Definition at line 36 of file SpaSolver.cpp.
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private |
Definition at line 49 of file SpaSolver.h.
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private |
Definition at line 51 of file SpaSolver.h.