#include <graph_optimizer_sparse_online.h>

Inheritance diagram for g2o::SparseOptimizerOnline:

Public Member Functions
virtual void	gnuplotVisualization ()
virtual bool	initSolver (int dimension, int batchEveryN)
int	optimize (int iterations, bool online=false)
	SparseOptimizerOnline (bool pcg=false)
void	update (double *update)
virtual bool	updateInitialization (HyperGraph::VertexSet &vset, HyperGraph::EdgeSet &eset)
virtual	~SparseOptimizerOnline ()
Public Attributes
bool	batchStep
HyperGraph::EdgeSet *	newEdges
int	slamDimension
bool	vizWithGnuplot
Protected Attributes
FILE *	_gnuplot
bool	_usePcg

Detailed Description

Definition at line 24 of file graph_optimizer_sparse_online.h.

Constructor & Destructor Documentation

g2o::SparseOptimizerOnline::SparseOptimizerOnline ( bool pcg = false ) [explicit]

Definition at line 45 of file graph_optimizer_sparse_online.cpp.

g2o::SparseOptimizerOnline::~SparseOptimizerOnline ( ) [virtual]

Definition at line 52 of file graph_optimizer_sparse_online.cpp.

Member Function Documentation

void g2o::SparseOptimizerOnline::gnuplotVisualization ( ) [virtual]

Definition at line 215 of file graph_optimizer_sparse_online.cpp.

bool g2o::SparseOptimizerOnline::initSolver	(	int	dimension,
		int	batchEveryN
	)		`[virtual]`

Reimplemented in g2o::SparseOptimizerIncremental.

Definition at line 188 of file graph_optimizer_sparse_online.cpp.

int g2o::SparseOptimizerOnline::optimize	(	int	iterations,
		bool	online = `false`
	)		`[virtual]`

Starts one optimization run given the current configuration of the graph, and the current settings stored in the class instance. It can be called only after initializeOptimization

Reimplemented from g2o::SparseOptimizer.

Reimplemented in g2o::SparseOptimizerIncremental.

Definition at line 59 of file graph_optimizer_sparse_online.cpp.

void g2o::SparseOptimizerOnline::update ( double * update )

Update the estimate of the active vertices

Parameters:

update,: the double vector containing the stacked elements of the increments on the vertices.

Reimplemented from g2o::SparseOptimizer.

Definition at line 147 of file graph_optimizer_sparse_online.cpp.