spa_solver.h
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00001 /*
00002  * Copyright 2010 SRI International
00003  *
00004  * This program is free software: you can redistribute it and/or modify
00005  * it under the terms of the GNU Lesser General Public License as published by
00006  * the Free Software Foundation, either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program 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 
00018 #ifndef KARTO_SPASOLVER_H
00019 #define KARTO_SPASOLVER_H
00020 
00021 #include <open_karto/Mapper.h>
00022 
00023 #ifndef EIGEN_USE_NEW_STDVECTOR
00024 #define EIGEN_USE_NEW_STDVECTOR
00025 #endif // EIGEN_USE_NEW_STDVECTOR
00026 
00027 #define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(10)
00028 #include <Eigen/Eigen>
00029 
00030 #include <sparse_bundle_adjustment/spa2d.h>
00031 
00032 typedef std::vector<karto::Matrix3> CovarianceVector;
00033 
00034 class SpaSolver : public karto::ScanSolver
00035 {
00036 public:
00037   SpaSolver();
00038   virtual ~SpaSolver();
00039 
00040 public:
00041   virtual void Clear();
00042   virtual void Compute();
00043   virtual const karto::ScanSolver::IdPoseVector& GetCorrections() const;
00044 
00045   virtual void AddNode(karto::Vertex<karto::LocalizedRangeScan>* pVertex);
00046   virtual void AddConstraint(karto::Edge<karto::LocalizedRangeScan>* pEdge);
00047 
00048   // Get the underlying graph from SBA
00049   // return the graph of constraints
00051   void getGraph(std::vector<float> &g) { m_Spa.getGraph(g); }
00052 
00053 private:
00054   karto::ScanSolver::IdPoseVector corrections;
00055 
00056   sba::SysSPA2d m_Spa;
00057 };
00058 
00059 #endif // KARTO_SPASOLVER_H
00060 


slam_karto
Author(s): Brian Gerkey
autogenerated on Tue Apr 4 2017 02:47:14