#include <stdio.h>
#include <iostream>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <Eigen/StdVector>
#include <vector>
#include <nav2d_karto/csparse.h>

Include dependency graph for spa2d.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	Con2dP2

class	Node2d

class	SysSPA2d
	SysSPA2d holds a set of nodes and constraints for sparse pose adjustment. More...

Macros
#define	EIGEN_USE_NEW_STDVECTOR

#define	SBA_BLOCK_JACOBIAN_PCG 3

#define	SBA_DENSE_CHOLESKY 0

#define	SBA_GRADIENT 2

#define	SBA_SPARSE_CHOLESKY 1

Functions
bool	read2dP2File (char *fname, SysSPA2d spa)
	constraint files More...

Macro Definition Documentation

◆ EIGEN_USE_NEW_STDVECTOR

#define EIGEN_USE_NEW_STDVECTOR

Definition at line 43 of file spa2d.h.

◆ SBA_BLOCK_JACOBIAN_PCG

#define SBA_BLOCK_JACOBIAN_PCG 3

Definition at line 65 of file spa2d.h.

◆ SBA_DENSE_CHOLESKY

#define SBA_DENSE_CHOLESKY 0

Definition at line 62 of file spa2d.h.

◆ SBA_GRADIENT

#define SBA_GRADIENT 2

Definition at line 64 of file spa2d.h.

◆ SBA_SPARSE_CHOLESKY

#define SBA_SPARSE_CHOLESKY 1

Definition at line 63 of file spa2d.h.

Function Documentation

◆ read2dP2File()

bool read2dP2File	(	char *	fname,
		SysSPA2d	spa
	)

constraint files

reads in a file of pose constraints

Classes

Macros

Functions