spa_2d_conversion.h

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#ifndef POSE_GRAPH_SPA_2D_CONVERSION_H
#define POSE_GRAPH_SPA_2D_CONVERSION_H

// Turn off printing by spa's underlying Cholesky factorization library
#ifndef NPRINT
#define NPRINT


#include <sba/spa2d.h>
#include <pose_graph/pose_graph.h>
#include <geometry_msgs/Pose.h>
#include <boost/shared_ptr.hpp>
#include <map>

namespace pose_graph
{

typedef boost::shared_ptr<sba::SysSPA2d> Spa2DPtr;
typedef std::map<NodeId, unsigned> NodeIndexMap;

struct Spa2DConversionResult
{
  Spa2DPtr spa;
  NodeIndexMap node_index_map;
  Spa2DConversionResult (const Spa2DPtr& s, const NodeIndexMap& m) : spa(s), node_index_map(m) {}
  Spa2DConversionResult ()  {} // For convenience

};

Spa2DConversionResult poseGraphToSpa2D (const PoseGraph& pose_graph);


geometry_msgs::Pose getNodePose (const sba::Node2d& n);



NodePoseMap optimizeGraph2D (const PoseGraph& g);





} // namespace pose_graph


#endif
#endif // include guard