#include <spa_solver.hpp>
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::IdPoseVector & | GetCorrections () 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 |
Definition at line 34 of file spa_solver.hpp.
solver_plugins::SpaSolver::SpaSolver | ( | ) |
Definition at line 31 of file spa_solver.cpp.
|
virtual |
Definition at line 38 of file spa_solver.cpp.
|
virtual |
Adds a constraint to the solver
Reimplemented from karto::ScanSolver.
Definition at line 85 of file spa_solver.cpp.
|
virtual |
Adds a node to the solver
Reimplemented from karto::ScanSolver.
Definition at line 76 of file spa_solver.cpp.
|
virtual |
Resets the solver
Reimplemented from karto::ScanSolver.
Definition at line 45 of file spa_solver.cpp.
|
virtual |
|
virtual |
Get corrected poses after optimization
Implements karto::ScanSolver.
Definition at line 51 of file spa_solver.cpp.
|
virtual |
Definition at line 108 of file spa_solver.cpp.
|
virtual |
|
private |
Definition at line 53 of file spa_solver.hpp.
|
private |
Definition at line 55 of file spa_solver.hpp.