karto::ScanSolver Class Reference

#include <OpenMapper.h>

Inheritance diagram for karto::ScanSolver:

Public Types
typedef List< Pair< kt_int32s, Pose2 > >	IdPoseVector

Public Member Functions
	ScanSolver ()
Public Member Functions inherited from karto::Referenced
	Referenced ()

Protected Member Functions
virtual void	AddConstraint (Edge< LocalizedObjectPtr > *)
virtual void	AddNode (Vertex< LocalizedObjectPtr > *)
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)
Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()
kt_int32s	Reference () const
kt_int32s	Unreference () const
kt_int32s	UnreferenceNoDelete () const

Detailed Description

Graph optimization algorithm

Definition at line 738 of file OpenMapper.h.

Member Typedef Documentation

typedef List<Pair<kt_int32s, Pose2> > karto::ScanSolver::IdPoseVector

Vector of id-pose pairs

Definition at line 744 of file OpenMapper.h.

Constructor & Destructor Documentation

karto::ScanSolver::ScanSolver ( )

inline

Default constructor

Definition at line 749 of file OpenMapper.h.

Member Function Documentation

virtual void karto::ScanSolver::AddConstraint ( Edge< LocalizedObjectPtr > *  )

inlineprotectedvirtual

Adds a constraint to the solver

Reimplemented in SpaSolver.

Definition at line 792 of file OpenMapper.h.

virtual void karto::ScanSolver::AddNode ( Vertex< LocalizedObjectPtr > *  )

inlineprotectedvirtual

Adds a node to the solver

Reimplemented in SpaSolver.

Definition at line 778 of file OpenMapper.h.

virtual void karto::ScanSolver::Clear ( )

inlineprotectedvirtual

Resets the solver

Reimplemented in SpaSolver.

Definition at line 806 of file OpenMapper.h.

virtual void karto::ScanSolver::Compute ( )

protectedpure virtual

public: /** Solve!

Implemented in SpaSolver.

virtual const IdPoseVector& karto::ScanSolver::GetCorrections ( ) const

protectedpure virtual

Gets corrected poses after optimization

Returns

optimized poses

Implemented in SpaSolver.

virtual void karto::ScanSolver::RemoveConstraint ( kt_int32s  , kt_int32s    )

inlineprotectedvirtual

Removes a constraint from the solver

Definition at line 799 of file OpenMapper.h.

virtual void karto::ScanSolver::RemoveNode ( kt_int32s  )

inlineprotectedvirtual

Removes a node from the solver

Definition at line 785 of file OpenMapper.h.

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

• OpenMapper.h