28 typedef std::vector<sba::Node2d, Eigen::aligned_allocator<sba::Node2d> >
NodeVector;
64 ROS_INFO(
"Loop Closure Solve time: %f seconds",
70 karto::Pose2 pose(iter->trans(0), iter->trans(1), iter->arot);
71 corrections.push_back(std::make_pair(iter->nodeId, pose));
96 Eigen::Matrix<double,3,3> m;
97 m(0,0) = precisionMatrix(0,0);
98 m(0,1) = m(1,0) = precisionMatrix(0,1);
99 m(0,2) = m(2,0) = precisionMatrix(0,2);
100 m(1,1) = precisionMatrix(1,1);
101 m(1,2) = m(2,1) = precisionMatrix(1,2);
102 m(2,2) = precisionMatrix(2,2);
111 std::vector<float> raw_graph;
114 g.reserve(raw_graph.size()/4);
116 Eigen::Vector2d pose;
117 for (
size_t i=0; i!=raw_graph.size()/4; i++)
119 pose(0) = raw_graph[4*i];
120 pose(1) = raw_graph[4*i+1];