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 void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
	ScanSolver ()
virtual	~ScanSolver ()

Detailed Description

Graph optimization algorithm

Definition at line 824 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 830 of file Mapper.h.

Constructor & Destructor Documentation

ScanSolver()

karto::ScanSolver::ScanSolver ( )

inline

Default constructor

Definition at line 835 of file Mapper.h.

~ScanSolver()

virtual karto::ScanSolver::~ScanSolver ( )

inlinevirtual

Destructor

Definition at line 842 of file Mapper.h.

Member Function Documentation

AddConstraint()

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

inlinevirtual

Adds a constraint to the solver

Reimplemented in SpaSolver.

Definition at line 875 of file Mapper.h.

AddNode()

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

inlinevirtual

Adds a node to the solver

Reimplemented in SpaSolver.

Definition at line 861 of file Mapper.h.

Clear()

virtual void karto::ScanSolver::Clear ( )

inlinevirtual

Resets the solver

Reimplemented in SpaSolver.

Definition at line 889 of file Mapper.h.

Compute()

virtual void karto::ScanSolver::Compute ( )

pure virtual

Solve!

Implemented in SpaSolver.

GetCorrections()

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

pure virtual

Get corrected poses after optimization

Returns

optimized poses

Implemented in SpaSolver.

RemoveConstraint()

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

inlinevirtual

Removes a constraint from the solver

Definition at line 882 of file Mapper.h.

RemoveNode()

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

inlinevirtual

Removes a node from the solver

Definition at line 868 of file Mapper.h.

---

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

• Mapper.h