Public Member Functions | Private Attributes
SpaSolver Class Reference

#include <SpaSolver.h>

Inheritance diagram for SpaSolver:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void AddConstraint (karto::Edge< karto::LocalizedObjectPtr > *pEdge)
virtual void AddNode (karto::Vertex< karto::LocalizedObjectPtr > *pVertex)
virtual void Clear ()
virtual void Compute ()
virtual const
karto::ScanSolver::IdPoseVector
GetCorrections () const
void getGraph (std::vector< float > &g)
 x,y -> x',y' 4 floats per connection
void reCompute ()
 SpaSolver ()
virtual ~SpaSolver ()

Private Attributes

karto::ScanSolver::IdPoseVector corrections
SysSPA2d m_Spa
ros::Time mLastSPA

Detailed Description

Definition at line 36 of file SpaSolver.h.


Constructor & Destructor Documentation

Definition at line 22 of file SpaSolver.cpp.

SpaSolver::~SpaSolver ( ) [virtual]

Definition at line 28 of file SpaSolver.cpp.


Member Function Documentation

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 74 of file SpaSolver.cpp.

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 67 of file SpaSolver.cpp.

void SpaSolver::Clear ( ) [virtual]

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 33 of file SpaSolver.cpp.

void SpaSolver::Compute ( ) [virtual]

Solve!

Implements karto::ScanSolver.

Definition at line 43 of file SpaSolver.cpp.

Gets corrected poses after optimization

Returns:
optimized poses

Implements karto::ScanSolver.

Definition at line 38 of file SpaSolver.cpp.

void SpaSolver::getGraph ( std::vector< float > &  g) [inline]

x,y -> x',y' 4 floats per connection

Definition at line 53 of file SpaSolver.h.

Definition at line 60 of file SpaSolver.cpp.


Member Data Documentation

Definition at line 57 of file SpaSolver.h.

Definition at line 59 of file SpaSolver.h.

Definition at line 61 of file SpaSolver.h.


The documentation for this class was generated from the following files:


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Thu Aug 27 2015 14:07:25