Generic Linear Constraint functions. More...
#include <vector>#include "isam/glc.h"#include "isam/util.h"#include "isam/Rot3d.h"#include "isam/ChowLiuTree.h"
Go to the source code of this file.
Namespaces | |
| namespace | isam |
Defines | |
| #define | GLC_EPS 1e-8 |
| #define | GLC_INCLUDE_IC_FACTORS |
Functions | |
| MatrixXd | isam::glc_cholcov (MatrixXd A, double eps=numeric_limits< float >::epsilon()) |
| std::vector< isam::Node * > | isam::glc_elim_clique_nodes (Node *node) |
| std::vector< Factor * > | isam::glc_elim_factors (Node *node) |
| Factor * | isam::glc_factor (const MatrixXd &L, const vector< Node * > &clique_nodes, GLC_Reparam *rp) |
| MatrixXd | isam::glc_get_weighted_jacobian (isam::Factor *f) |
| vector< Factor * > | isam::glc_intra_clique_factors (vector< Node * > clique_nodes, Node *node) |
| vector< Factor * > | isam::glc_lift_factors (const MatrixXd &L, const vector< Node * > &clique_nodes, bool sparse, GLC_Reparam *rp) |
| std::vector< Factor * > | isam::glc_remove_node (Slam &slam, Node *node, bool sparse=false, GLC_Reparam *rp=NULL) |
| MatrixXd | isam::glc_target_info (Node *node, vector< Node * > &clique_nodes, vector< Factor * > &ic_factors) |
Detailed Description
Generic Linear Constraint functions.
- Version:
- Id:
- covariance.cpp 4975 2011-07-13 17:49:09Z 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 <http://www.gnu.org/licenses/>.
Definition in file glc.cpp.
Define Documentation
| #define GLC_INCLUDE_IC_FACTORS |