solver_plugins::CeresSolver Class Reference

#include <ceres_solver.hpp>

Inheritance diagram for solver_plugins::CeresSolver:

Public Member Functions
virtual void	AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)
virtual void	AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)
	CeresSolver ()
virtual void	Clear ()
virtual void	Compute ()
virtual const karto::ScanSolver::IdPoseVector &	GetCorrections () const
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 sourceId, kt_int32s targetId)
virtual void	RemoveNode (kt_int32s id)
virtual void	Reset ()
virtual	~CeresSolver ()
Public Member Functions inherited from karto::ScanSolver
	ScanSolver ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
virtual	~ScanSolver ()

Private Attributes
ceres::LocalParameterization *	angle_local_parameterization_
std::unordered_map< size_t, ceres::ResidualBlockId > *	blocks_
karto::ScanSolver::IdPoseVector	corrections_
bool	debug_logging_
std::unordered_map< int, Eigen::Vector3d >::iterator	first_node_
ceres::LossFunction *	loss_function_
std::unordered_map< int, Eigen::Vector3d > *	nodes_
boost::mutex	nodes_mutex_
ceres::Solver::Options	options_
ceres::Problem::Options	options_problem_
ceres::Problem *	problem_
bool	was_constant_set_

Additional Inherited Members
Public Types inherited from karto::ScanSolver
typedef std::vector< std::pair< kt_int32s, Pose2 > >	IdPoseVector

Detailed Description

Definition at line 30 of file ceres_solver.hpp.

Constructor & Destructor Documentation

CeresSolver()

solver_plugins::CeresSolver::CeresSolver

(

)

Definition at line 18 of file ceres_solver.cpp.

~CeresSolver()

solver_plugins::CeresSolver::~CeresSolver ( )

virtual

Definition at line 152 of file ceres_solver.cpp.

Member Function Documentation

AddConstraint()

void solver_plugins::CeresSolver::AddConstraint ( karto::Edge< karto::LocalizedRangeScan > *  )

virtual

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 299 of file ceres_solver.cpp.

AddNode()

void solver_plugins::CeresSolver::AddNode ( karto::Vertex< karto::LocalizedRangeScan > *  )

virtual

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 275 of file ceres_solver.cpp.

Clear()

void solver_plugins::CeresSolver::Clear ( )

virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 236 of file ceres_solver.cpp.

Compute()

void solver_plugins::CeresSolver::Compute ( )

virtual

Solve!

Implements karto::ScanSolver.

Definition at line 170 of file ceres_solver.cpp.

GetCorrections()

const karto::ScanSolver::IdPoseVector & solver_plugins::CeresSolver::GetCorrections ( ) const

virtual

Get corrected poses after optimization

Returns

optimized poses

Implements karto::ScanSolver.

Definition at line 229 of file ceres_solver.cpp.

getGraph()

std::unordered_map< int, Eigen::Vector3d > * solver_plugins::CeresSolver::getGraph ( )

virtual

Get graph stored

Reimplemented from karto::ScanSolver.

Definition at line 436 of file ceres_solver.cpp.

GetNodeOrientation()

void solver_plugins::CeresSolver::GetNodeOrientation ( const int &  unique_id, double &  pose  )

virtual

Get node's yaw

Reimplemented from karto::ScanSolver.

Definition at line 424 of file ceres_solver.cpp.

ModifyNode()

void solver_plugins::CeresSolver::ModifyNode ( const int &  unique_id, Eigen::Vector3d  pose  )

virtual

Modify a node's pose

Reimplemented from karto::ScanSolver.

Definition at line 410 of file ceres_solver.cpp.

RemoveConstraint()

void solver_plugins::CeresSolver::RemoveConstraint ( kt_int32s  , kt_int32s    )

virtual

Removes a constraint from the solver

Reimplemented from karto::ScanSolver.

Definition at line 384 of file ceres_solver.cpp.

RemoveNode()

void solver_plugins::CeresSolver::RemoveNode ( kt_int32s  )

virtual

Removes a node from the solver

Reimplemented from karto::ScanSolver.

Definition at line 355 of file ceres_solver.cpp.

Reset()

void solver_plugins::CeresSolver::Reset ( )

virtual

Resets the solver for reinitialization

Reimplemented from karto::ScanSolver.

Definition at line 243 of file ceres_solver.cpp.

Member Data Documentation

angle_local_parameterization_

ceres::LocalParameterization* solver_plugins::CeresSolver::angle_local_parameterization_

private

Definition at line 60 of file ceres_solver.hpp.

blocks_

std::unordered_map<size_t, ceres::ResidualBlockId>* solver_plugins::CeresSolver::blocks_

private

Definition at line 65 of file ceres_solver.hpp.

corrections_

karto::ScanSolver::IdPoseVector solver_plugins::CeresSolver::corrections_

private

Definition at line 53 of file ceres_solver.hpp.

debug_logging_

bool solver_plugins::CeresSolver::debug_logging_

private

Definition at line 61 of file ceres_solver.hpp.

first_node_

std::unordered_map<int, Eigen::Vector3d>::iterator solver_plugins::CeresSolver::first_node_

private

Definition at line 66 of file ceres_solver.hpp.

loss_function_

ceres::LossFunction* solver_plugins::CeresSolver::loss_function_

private

Definition at line 58 of file ceres_solver.hpp.

nodes_

std::unordered_map<int, Eigen::Vector3d>* solver_plugins::CeresSolver::nodes_

private

Definition at line 64 of file ceres_solver.hpp.

nodes_mutex_

boost::mutex solver_plugins::CeresSolver::nodes_mutex_

private

Definition at line 67 of file ceres_solver.hpp.

options_

ceres::Solver::Options solver_plugins::CeresSolver::options_

private

Definition at line 56 of file ceres_solver.hpp.

options_problem_

ceres::Problem::Options solver_plugins::CeresSolver::options_problem_

private

Definition at line 57 of file ceres_solver.hpp.

problem_

ceres::Problem* solver_plugins::CeresSolver::problem_

private

Definition at line 59 of file ceres_solver.hpp.

was_constant_set_

bool solver_plugins::CeresSolver::was_constant_set_

private

Definition at line 61 of file ceres_solver.hpp.

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

• ceres_solver.hpp
• ceres_solver.cpp