00001 // HOG-Man - Hierarchical Optimization for Pose Graphs on Manifolds 00002 // Copyright (C) 2010 G. Grisetti, R. Kümmerle, C. Stachniss 00003 // 00004 // HOG-Man is free software: you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published 00006 // by the Free Software Foundation, either version 3 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // HOG-Man is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00016 00017 #ifndef _GRAPH_OPTIMIZER2D_HCHOL_HH_ 00018 #define _GRAPH_OPTIMIZER2D_HCHOL_HH_ 00019 00020 #include "graph_optimizer_hchol.h" 00021 #include "graph_optimizer/graph_optimizer2d.h" 00022 #include "hogman_minimal/math/transformation.h" 00023 00024 namespace AISNavigation{ 00025 00029 typedef HCholOptimizer<PoseGraph2D> HCholOptimizer2D; 00030 00031 } 00032 #endif