spa_solver.hpp
Go to the documentation of this file.
1 /*
2  * Copyright 2010 SRI International
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU Lesser General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details.
13  *
14  * You should have received a copy of the GNU Lesser General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
18 #ifndef KARTO_SPASOLVER_H
19 #define KARTO_SPASOLVER_H
20 
21 #include <karto_sdk/Mapper.h>
22 
23 #ifndef EIGEN_USE_NEW_STDVECTOR
24 #define EIGEN_USE_NEW_STDVECTOR
25 #endif // EIGEN_USE_NEW_STDVECTOR
26 
27 #include <Eigen/Eigen>
28 
30 
31 namespace solver_plugins
32 {
33 
35 {
36 public:
37  SpaSolver();
38  virtual ~SpaSolver();
39 
40 public:
41  virtual void Clear();
42  virtual void Compute();
43  virtual const karto::ScanSolver::IdPoseVector& GetCorrections() const;
44 
47 
48  virtual void getGraph(std::vector<Eigen::Vector2d>& g);
49 
50  virtual void ModifyNode(const int& unique_id, const Eigen::Vector3d& pose);
51 
52 private:
54 
56 };
57 
58 }
59 
60 #endif // KARTO_SPASOLVER_H
61 
virtual std::unordered_map< int, Eigen::Vector3d > * getGraph()
Definition: Mapper.h:1026
karto::ScanSolver::IdPoseVector corrections
Definition: spa_solver.hpp:53
virtual void AddConstraint(karto::Edge< karto::LocalizedRangeScan > *pEdge)
Definition: spa_solver.cpp:85
virtual void Compute()
Definition: spa_solver.cpp:57
virtual const karto::ScanSolver::IdPoseVector & GetCorrections() const
Definition: spa_solver.cpp:51
virtual void ModifyNode(const int &unique_id, const Eigen::Vector3d &pose)
virtual void AddNode(karto::Vertex< karto::LocalizedRangeScan > *pVertex)
Definition: spa_solver.cpp:76
std::vector< std::pair< kt_int32s, Pose2 > > IdPoseVector
Definition: Mapper.h:953


slam_toolbox
Author(s): Steve Macenski
autogenerated on Mon Feb 28 2022 23:46:49