karto::ScanSolver Class Reference

#include <Mapper.h>

Inheritance diagram for karto::ScanSolver:

List of all members.

Public Types
typedef std::vector< std::pair < kt_int32s, Pose2 > >	IdPoseVector
Public Member Functions
virtual void	AddConstraint (Edge< LocalizedRangeScan > *)
virtual void	AddNode (Vertex< LocalizedRangeScan > *)
virtual void	Clear ()
virtual void	Compute ()=0
virtual const IdPoseVector &	GetCorrections () const =0
virtual void	RemoveConstraint (kt_int32s, kt_int32s)
virtual void	RemoveNode (kt_int32s)
	ScanSolver ()
virtual	~ScanSolver ()

---

Detailed Description

Graph optimization algorithm

Definition at line 718 of file Mapper.h.

---

Member Typedef Documentation

typedef std::vector<std::pair<kt_int32s, Pose2> > karto::ScanSolver::IdPoseVector

Vector of id-pose pairs

Definition at line 724 of file Mapper.h.

---

Constructor & Destructor Documentation

karto::ScanSolver::ScanSolver

(

)

[inline]

Default constructor

Definition at line 729 of file Mapper.h.

virtual karto::ScanSolver::~ScanSolver

(

)

[inline, virtual]

Destructor

Definition at line 736 of file Mapper.h.

---

Member Function Documentation

virtual void karto::ScanSolver::AddConstraint

(

Edge< LocalizedRangeScan > *

)

[inline, virtual]

Adds a constraint to the solver

Reimplemented in SpaSolver.

Definition at line 769 of file Mapper.h.

virtual void karto::ScanSolver::AddNode

(

Vertex< LocalizedRangeScan > *

)

[inline, virtual]

Adds a node to the solver

Reimplemented in SpaSolver.

Definition at line 755 of file Mapper.h.

virtual void karto::ScanSolver::Clear

(

)

[inline, virtual]

Resets the solver

Reimplemented in SpaSolver.

Definition at line 783 of file Mapper.h.

virtual void karto::ScanSolver::Compute

(

)

[pure virtual]

Solve!

Implemented in SpaSolver.

virtual const IdPoseVector& karto::ScanSolver::GetCorrections

(

)

const [pure virtual]

Get corrected poses after optimization

Returns:

optimized poses

Implemented in SpaSolver.

virtual void karto::ScanSolver::RemoveConstraint	(	kt_int32s	,
		kt_int32s
	)		[inline, virtual]

Removes a constraint from the solver

Definition at line 776 of file Mapper.h.

virtual void karto::ScanSolver::RemoveNode

(

kt_int32s

)

[inline, virtual]

Removes a node from the solver

Definition at line 762 of file Mapper.h.

---

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

• Mapper.h