Public Member Functions | Private Attributes | List of all members
solver_plugins::SpaSolver Class Reference

#include <spa_solver.hpp>

Inheritance diagram for solver_plugins::SpaSolver:
Inheritance graph
[legend]

Public Member Functions

virtual void AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)
 
virtual void AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)
 
virtual void Clear ()
 
virtual void Compute ()
 
virtual const karto::ScanSolver::IdPoseVectorGetCorrections () const
 
virtual void getGraph (std::vector< Eigen::Vector2d > &g)
 
virtual void ModifyNode (const int &unique_id, const Eigen::Vector3d &pose)
 
 SpaSolver ()
 
virtual ~SpaSolver ()
 
- Public Member Functions inherited from karto::ScanSolver
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, kt_int32s)
 
virtual void RemoveNode (kt_int32s)
 
virtual void Reset ()
 
 ScanSolver ()
 
template<class Archive >
void serialize (Archive &ar, const unsigned int version)
 
virtual ~ScanSolver ()
 

Private Attributes

karto::ScanSolver::IdPoseVector corrections
 
sba::SysSPA2d m_Spa
 

Additional Inherited Members

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

Detailed Description

Definition at line 34 of file spa_solver.hpp.

Constructor & Destructor Documentation

◆ SpaSolver()

solver_plugins::SpaSolver::SpaSolver ( )

Definition at line 31 of file spa_solver.cpp.

◆ ~SpaSolver()

solver_plugins::SpaSolver::~SpaSolver ( )
virtual

Definition at line 38 of file spa_solver.cpp.

Member Function Documentation

◆ AddConstraint()

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

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 85 of file spa_solver.cpp.

◆ AddNode()

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

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 76 of file spa_solver.cpp.

◆ Clear()

void solver_plugins::SpaSolver::Clear ( )
virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 45 of file spa_solver.cpp.

◆ Compute()

void solver_plugins::SpaSolver::Compute ( )
virtual

Solve!

Implements karto::ScanSolver.

Definition at line 57 of file spa_solver.cpp.

◆ GetCorrections()

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

Get corrected poses after optimization

Returns
optimized poses

Implements karto::ScanSolver.

Definition at line 51 of file spa_solver.cpp.

◆ getGraph()

void solver_plugins::SpaSolver::getGraph ( std::vector< Eigen::Vector2d > &  g)
virtual

Definition at line 108 of file spa_solver.cpp.

◆ ModifyNode()

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

Member Data Documentation

◆ corrections

karto::ScanSolver::IdPoseVector solver_plugins::SpaSolver::corrections
private

Definition at line 53 of file spa_solver.hpp.

◆ m_Spa

sba::SysSPA2d solver_plugins::SpaSolver::m_Spa
private

Definition at line 55 of file spa_solver.hpp.


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


slam_toolbox
Author(s): Steve Macenski
autogenerated on Thu Jan 11 2024 03:37:56