Classes | Namespaces | Functions
glc.h File Reference

Generic Linear Constraint functions. More...

#include <string>
#include <sstream>
#include <Eigen/Dense>
#include "Node.h"
#include "Factor.h"
#include "Anchor.h"
#include "GLCReparam.h"
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class  isam::GLC_Factor


namespace  isam


Eigen::MatrixXd isam::exmap_jacobian (const std::vector< Node * > &nodes)
std::vector< Factor * > isam::glc_elim_factors (Node *node)
std::vector< Factor * > isam::glc_remove_node (Slam &slam, Node *node, bool sparse=false, GLC_Reparam *rp=NULL)

Detailed Description

Generic Linear Constraint functions.

Nicholas Carlevaris-Bianco
Michael Kaess
glc.h 8578 2013-07-01 00:28:49Z kaess

Copyright (C) 2009-2013 Massachusetts Institute of Technology. Michael Kaess, Hordur Johannsson, David Rosen, Nicholas Carlevaris-Bianco and John. J. Leonard

This file is part of iSAM.

iSAM is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version.

iSAM is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with iSAM. If not, see <>.

Definition in file glc.h.

Author(s): Ji Zhang
autogenerated on Mon Jan 6 2014 11:16:08