karto::ScanSolver Class Reference

#include <Mapper.h>

Inheritance diagram for karto::ScanSolver:

Public Types
typedef std::vector< std::pair< kt_int32s, Pose2 > >	IdPoseVector

Public Member Functions
virtual void	AddConstraint (Edge< LocalizedRangeScan > *)
virtual void	AddNode (Vertex< LocalizedRangeScan > *)
virtual void	Clear ()
virtual void	Compute ()=0
virtual const IdPoseVector &	GetCorrections () const =0
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 ()

Friends
class	boost::serialization::access

Detailed Description

Graph optimization algorithm

Definition at line 947 of file Mapper.h.

Member Typedef Documentation

IdPoseVector

typedef std::vector<std::pair<kt_int32s, Pose2> > karto::ScanSolver::IdPoseVector

Vector of id-pose pairs

Definition at line 953 of file Mapper.h.

Constructor & Destructor Documentation

ScanSolver()

karto::ScanSolver::ScanSolver ( )

inline

Default constructor

Definition at line 958 of file Mapper.h.

~ScanSolver()

virtual karto::ScanSolver::~ScanSolver ( )

inlinevirtual

Destructor

Definition at line 965 of file Mapper.h.

Member Function Documentation

AddConstraint()

virtual void karto::ScanSolver::AddConstraint ( Edge< LocalizedRangeScan > *  )

inlinevirtual

Adds a constraint to the solver

Reimplemented in solver_plugins::GTSAMSolver, solver_plugins::G2OSolver, solver_plugins::SpaSolver, and solver_plugins::CeresSolver.

Definition at line 998 of file Mapper.h.

AddNode()

virtual void karto::ScanSolver::AddNode ( Vertex< LocalizedRangeScan > *  )

inlinevirtual

Adds a node to the solver

Reimplemented in solver_plugins::GTSAMSolver, solver_plugins::G2OSolver, solver_plugins::SpaSolver, and solver_plugins::CeresSolver.

Definition at line 984 of file Mapper.h.

Clear()

virtual void karto::ScanSolver::Clear ( )

inlinevirtual

Resets the solver

Reimplemented in solver_plugins::GTSAMSolver, solver_plugins::SpaSolver, solver_plugins::CeresSolver, and solver_plugins::G2OSolver.

Definition at line 1012 of file Mapper.h.

Compute()

virtual void karto::ScanSolver::Compute ( )

pure virtual

Solve!

Implemented in solver_plugins::GTSAMSolver, solver_plugins::SpaSolver, solver_plugins::G2OSolver, and solver_plugins::CeresSolver.

GetCorrections()

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

pure virtual

Get corrected poses after optimization

Returns

optimized poses

Implemented in solver_plugins::GTSAMSolver, solver_plugins::G2OSolver, solver_plugins::SpaSolver, and solver_plugins::CeresSolver.

getGraph()

virtual std::unordered_map<int, Eigen::Vector3d>* karto::ScanSolver::getGraph ( )

inlinevirtual

Get graph stored

Reimplemented in solver_plugins::CeresSolver.

Definition at line 1026 of file Mapper.h.

GetNodeOrientation()

virtual void karto::ScanSolver::GetNodeOrientation ( const int &  unique_id, double &  pose  )

inlinevirtual

Get node's yaw

Reimplemented in solver_plugins::CeresSolver.

Definition at line 1041 of file Mapper.h.

ModifyNode()

virtual void karto::ScanSolver::ModifyNode ( const int &  unique_id, Eigen::Vector3d  pose  )

inlinevirtual

Modify a node's pose

Reimplemented in solver_plugins::CeresSolver.

Definition at line 1034 of file Mapper.h.

RemoveConstraint()

virtual void karto::ScanSolver::RemoveConstraint ( kt_int32s  , kt_int32s    )

inlinevirtual

Removes a constraint from the solver

Reimplemented in solver_plugins::CeresSolver.

Definition at line 1005 of file Mapper.h.

RemoveNode()

virtual void karto::ScanSolver::RemoveNode ( kt_int32s  )

inlinevirtual

Removes a node from the solver

Reimplemented in solver_plugins::CeresSolver.

Definition at line 991 of file Mapper.h.

Reset()

virtual void karto::ScanSolver::Reset ( )

inlinevirtual

Resets the solver for reinitialization

Reimplemented in solver_plugins::CeresSolver.

Definition at line 1019 of file Mapper.h.

serialize()

template<class Archive >

void karto::ScanSolver::serialize ( Archive &  ar, const unsigned int  version  )

inline

Definition at line 1048 of file Mapper.h.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 1044 of file Mapper.h.

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

• Mapper.h