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9 #ifndef KARTO_G2OSolver_H
10 #define KARTO_G2OSolver_H
13 #include "g2o/core/sparse_optimizer.h"
72 void getGraph(std::vector<Eigen::Vector2d>& nodes);
85 virtual void ModifyNode(
const int& unique_id,
const Eigen::Vector3d& pose);
101 #endif // KARTO_G2OSolver_H
virtual void Compute()
Solve the SLAM back-end.
virtual void Clear()
Clear the vector of corrections.
std::vector< std::pair< kt_int32s, Pose2 > > IdPoseVector
virtual void AddConstraint(karto::Edge< karto::LocalizedRangeScan > *pEdge)
Add an edge constraint to pose-graph.
virtual void AddNode(karto::Vertex< karto::LocalizedRangeScan > *pVertex)
Add a node to pose-graph.
g2o::SparseOptimizer optimizer_
void useRobustKernel(bool flag)
Use robust kernel in back-end.
karto::ScanSolver::IdPoseVector corrections_
virtual const karto::ScanSolver::IdPoseVector & GetCorrections() const
Get the vector of corrections.
virtual std::unordered_map< int, Eigen::Vector3d > * getGraph()
virtual void ModifyNode(const int &unique_id, const Eigen::Vector3d &pose)
slam_toolbox
Author(s): Steve Macenski
autogenerated on Thu Jan 11 2024 03:37:55