spa_conversion.h

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/*
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#ifndef POSE_GRAPH_SPA_CONVERSION_H
#define POSE_GRAPH_SPA_CONVERSION_H

#include <sba/sba.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::SysSPA> SpaPtr;
typedef std::map<NodeId, unsigned> NodeIndexMap;

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

};

SpaConversionResult poseGraphToSpa (const PoseGraph& pose_graph);


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


NodePoseMap optimizeGraph (const PoseGraph& g);





} // namespace pose_graph



#endif // include guard