rtabmap::graph::Optimizer Class Reference

#include <Graph.h>

Inheritance diagram for rtabmap::graph::Optimizer:

List of all members.

Public Types
enum	Type { kTypeUndef = -1, kTypeTORO = 0, kTypeG2O = 1 }
Public Member Functions
bool	isCovarianceIgnored () const
bool	isSlam2d () const
int	iterations () const
virtual std::map< int, Transform >	optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0)=0
virtual void	parseParameters (const ParametersMap &parameters)
virtual Type	type () const =0
virtual	~Optimizer ()
Static Public Member Functions
static Optimizer *	create (const ParametersMap &parameters)
static Optimizer *	create (Optimizer::Type &type, const ParametersMap &parameters=ParametersMap())
static void	getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut, int depth=0)
Protected Member Functions
	Optimizer (int iterations=100, bool slam2d=false, bool covarianceIgnored=false)
	Optimizer (const ParametersMap &parameters)
Private Attributes
bool	covarianceIgnored_
int	iterations_
bool	slam2d_

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Detailed Description

Definition at line 45 of file Graph.h.

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Member Enumeration Documentation

enum rtabmap::graph::Optimizer::Type

Enumerator:

kTypeUndef
kTypeTORO
kTypeG2O

Definition at line 48 of file Graph.h.

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Constructor & Destructor Documentation

virtual rtabmap::graph::Optimizer::~Optimizer

(

)

[inline, virtual]

Definition at line 66 of file Graph.h.

rtabmap::graph::Optimizer::Optimizer	(	int	iterations = 100,
		bool	slam2d = false,
		bool	covarianceIgnored = false
	)		[protected]

Definition at line 113 of file Graph.cpp.

rtabmap::graph::Optimizer::Optimizer

(

const ParametersMap &

parameters

)

[protected]

Definition at line 120 of file Graph.cpp.

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Member Function Documentation

Optimizer * rtabmap::graph::Optimizer::create

(

const ParametersMap &

parameters

)

[static]

Definition at line 63 of file Graph.cpp.

Optimizer * rtabmap::graph::Optimizer::create	(	Optimizer::Type &	type,
		const ParametersMap &	parameters = ParametersMap()
	)		[static]

Definition at line 90 of file Graph.cpp.

void rtabmap::graph::Optimizer::getConnectedGraph	(	int	fromId,
		const std::map< int, Transform > &	posesIn,
		const std::multimap< int, Link > &	linksIn,
		std::map< int, Transform > &	posesOut,
		std::multimap< int, Link > &	linksOut,
		int	depth = 0
	)		[static]

Definition at line 135 of file Graph.cpp.

bool rtabmap::graph::Optimizer::isCovarianceIgnored

(

)

const [inline]

Definition at line 72 of file Graph.h.

bool rtabmap::graph::Optimizer::isSlam2d

(

)

const [inline]

Definition at line 71 of file Graph.h.

int rtabmap::graph::Optimizer::iterations

(

)

const [inline]

Definition at line 70 of file Graph.h.

virtual std::map<int, Transform> rtabmap::graph::Optimizer::optimize	(	int	rootId,
		const std::map< int, Transform > &	poses,
		const std::multimap< int, Link > &	constraints,
		std::list< std::map< int, Transform > > *	intermediateGraphes = 0
	)		[pure virtual]

Implemented in rtabmap::graph::G2OOptimizer, and rtabmap::graph::TOROOptimizer.

void rtabmap::graph::Optimizer::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Definition at line 128 of file Graph.cpp.

virtual Type rtabmap::graph::Optimizer::type

(

)

const [pure virtual]

Implemented in rtabmap::graph::G2OOptimizer, and rtabmap::graph::TOROOptimizer.

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Member Data Documentation

bool rtabmap::graph::Optimizer::covarianceIgnored_ [private]

Definition at line 89 of file Graph.h.

int rtabmap::graph::Optimizer::iterations_ [private]

Definition at line 87 of file Graph.h.

bool rtabmap::graph::Optimizer::slam2d_ [private]

Definition at line 88 of file Graph.h.

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

• Graph.h
• Graph.cpp