Wrapper class for running GraphSLAM on Scans.
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#include <GraphSLAM.hpp>
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using | Graph = std::vector< std::pair< int, int > > |
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using | GraphMatrix = Eigen::SparseMatrix< double > |
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using | GraphVector = Eigen::VectorXd |
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Wrapper class for running GraphSLAM on Scans.
Definition at line 61 of file GraphSLAM.hpp.
◆ Graph
◆ GraphMatrix
◆ GraphVector
◆ GraphSLAM()
lvr2::GraphSLAM::GraphSLAM |
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const SLAMOptions * |
options | ) |
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◆ ~GraphSLAM()
virtual lvr2::GraphSLAM::~GraphSLAM |
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virtualdefault |
◆ createGraph()
void lvr2::GraphSLAM::createGraph |
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const std::vector< SLAMScanPtr > & |
scans, |
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size_t |
last, |
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Graph & |
graph |
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) |
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protected |
Creates a graph. An edge between nodes(scans) means posible overlap.
- Parameters
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scans | reference to a vector containing the SlamScanPtr |
last | number of the last considered scan |
graph | Outputs the created graph |
Definition at line 243 of file GraphSLAM.cpp.
◆ doGraphSLAM()
void lvr2::GraphSLAM::doGraphSLAM |
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const std::vector< SLAMScanPtr > & |
scans, |
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size_t |
last, |
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const std::vector< bool > & |
new_scans = std::vector<bool>() |
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) |
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runs the GraphSLAM algorithm
- Parameters
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scans | The scans to work on |
last | The index of the last Scan to consider. scans may be longer, but anything after last will be ignored |
Definition at line 122 of file GraphSLAM.cpp.
◆ eulerCovariance()
◆ fillEquation()
A function to fill the linear system mat * x = vec.
- Parameters
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scans | reference to a vector containing the SlamScanPtr |
graph | the graph created in the createGraph function |
mat | Outputs the GraphMatrix |
vec | Outputs the GraphVector |
Definition at line 266 of file GraphSLAM.cpp.
◆ m_options
The documentation for this class was generated from the following files: