SpaSolver.h
Go to the documentation of this file.
1 /*
2  * Copyright 2010 SRI International
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU Lesser General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU Lesser General Public License for more details.
13  *
14  * You should have received a copy of the GNU Lesser General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
18 #ifndef __SPASOLVER__
19 #define __SPASOLVER__
20 
21 #include <OpenKarto/Mapper.h>
22 
23 #ifndef EIGEN_USE_NEW_STDVECTOR
24 #define EIGEN_USE_NEW_STDVECTOR
25 #endif // EIGEN_USE_NEW_STDVECTOR
26 
27 #define EIGEN_DEFAULT_IO_FORMAT Eigen::IOFormat(10)
28 #include <Eigen/Eigen>
29 
30 #include "sba/spa2d.h"
31 
32 typedef std::vector<karto::Matrix3> CovarianceVector;
33 
35 {
36 public:
37  SpaSolver();
38  virtual ~SpaSolver();
39 
40 public:
41  virtual void Clear();
42  virtual void Compute();
43  virtual const karto::ScanSolver::IdPoseVector& GetCorrections() const;
44 
47 
48 private:
50 
51  sba::SysSPA2d m_Spa;
52 };
53 
54 #endif // __SPASOLVER__
55 
virtual const karto::ScanSolver::IdPoseVector & GetCorrections() const
Definition: SpaSolver.cpp:36
virtual void AddNode(karto::Vertex< karto::LocalizedRangeScan > *pVertex)
Definition: SpaSolver.cpp:58
sba::SysSPA2d m_Spa
Definition: SpaSolver.h:51
std::vector< karto::Matrix3 > CovarianceVector
Definition: SpaSolver.h:32
virtual void Clear()
Definition: SpaSolver.cpp:31
karto::ScanSolver::IdPoseVector corrections
Definition: SpaSolver.h:49
virtual void Compute()
Definition: SpaSolver.cpp:41
std::vector< std::pair< kt_int32s, Pose2 > > IdPoseVector
Definition: Mapper.h:724
virtual void AddConstraint(karto::Edge< karto::LocalizedRangeScan > *pEdge)
Definition: SpaSolver.cpp:65
virtual ~SpaSolver()
Definition: SpaSolver.cpp:26


open_karto
Author(s):
autogenerated on Sat Apr 6 2019 02:22:46