Anchor.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
Anchor_8cpp
isam/Anchor.h
isam/slam2d.h
isam/slam3d.h
isam
Anchor.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
Anchor_8h
Node.h
Factor.h
Pose2d.h
Point2d.h
Pose3d.h
Slam.h
isam::Anchor2d_Node
isam::Anchor3d_Node
isam
NodeT< Pose2d >
Pose2d_Node
namespaceisam.html
aeba5a36da9b67cd93c13d0266d5dddba
NodeT< Pose3d >
Pose3d_Node
namespaceisam.html
a6bfdce2b91284c9213de6b5a5c626ec9
bundleAdjust.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
bundleAdjust_8cpp
isam/isam.h
isam/slam_depthmono.h
isam/robust.h
cameraParameters.h
pointDefinition.h
void
depthPointsHandler
bundleAdjust_8cpp.html
a35b1b07b23552ab60003e2b140db1690
(const sensor_msgs::PointCloud2ConstPtr &depthPoints2)
pcl::PointCloud< DepthPoint >::Ptr
depthPointsStacked
bundleAdjust_8cpp.html
a49a4836718e4aef3eb4676cca8cdbc43
(new pcl::PointCloud< DepthPoint >())
void
diffRotation
bundleAdjust_8cpp.html
ac619fac7805ef7dda09996978b95e159
(double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
int
main
bundleAdjust_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
transformAssociateToBA
bundleAdjust_8cpp.html
ad3fe2296d90bd87facd492f7f30ffec1
()
pcl::PointCloud< DepthPoint >::Ptr
depthPoints
bundleAdjust_8cpp.html
a6ee4c5e7771f32dc5aad26ba7f690af8
[keyframeNum]
double
depthPointsTime
bundleAdjust_8cpp.html
a1a0748f07d625895e4786d593af8b712
const int
keyframeNum
bundleAdjust_8cpp.html
a9bcd6d55f60bae0f7435c37564fae96e
bool
newKeyframe
bundleAdjust_8cpp.html
a9e3ff699810810969240d2e2d58c0fed
const double
PI
bundleAdjust_8cpp.html
a952eac791b596a61bba0a133a3bb439f
double
pitchRec
bundleAdjust_8cpp.html
ae15d0b9482c96e77418ff363b61d05e5
double
rollRec
bundleAdjust_8cpp.html
ae597ec61487cb89e5437988da2ed5fc6
double
transformAftBA
bundleAdjust_8cpp.html
a0c6cc788aefb6e922d1495b77aa4580c
[6]
double
transformBefBA
bundleAdjust_8cpp.html
a37388b5e59461e74cd5caf84cbce5ff2
[6]
double
txRec
bundleAdjust_8cpp.html
a1fa382f37abc3deb4ab94b794b8cd589
double
tyRec
bundleAdjust_8cpp.html
af4ab6c53862318419d13c0a57dcabeaa
double
tzRec
bundleAdjust_8cpp.html
af0e006ebfb96da54cce1a5b25dea9e5d
double
yawRec
bundleAdjust_8cpp.html
a7215244f8d5606c95780d407eef2bd2c
cameraParameters.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
cameraParameters_8h
const int
imageHeight
cameraParameters_8h.html
ac55422ca8c56eaeaf7de0505fa388dad
const int
imageWidth
cameraParameters_8h.html
aa1c7c8a69492c35d0480484b4b67a044
double
kDepth
cameraParameters_8h.html
a2dcae746406ab72bdf5007b6e18bf684
[9]
double
kImage
cameraParameters_8h.html
afd2656cd5583b56c19d0c815ea957a37
[9]
Cholesky.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
Cholesky_8cpp
isam/util.h
isam/SparseMatrix.h
isam/SparseSystem.h
isam/Cholesky.h
isam::CholeskyImpl
isam::CholeskyImplCSparse
isam
const bool
USE_CSPARSE
Cholesky_8cpp.html
aaea98cc2fd21803af6c759402b36f4e4
const bool
USE_CSPARSE_QR
Cholesky_8cpp.html
a145851746577ec8ebf4b25dc574fcb53
Cholesky.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
Cholesky_8h
SparseSystem.h
isam::Cholesky
isam
ChowLiuTree.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
ChowLiuTree_8cpp
isam/ChowLiuTree.h
isam/util.h
isam
MatrixXd
matslice
namespaceisam.html
ac496fdf0f27c68dff57ffac458d5e30b
(const MatrixXd A, vector< int > ii, vector< int > jj)
bool
mi_sort
namespaceisam.html
a5c6aefaa5620cab4d4d4a1c8e14c2706
(MI &first, MI &second)
ChowLiuTree.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
ChowLiuTree_8h
Node.h
isam::ChowLiuTree
isam::ChowLiuTreeInfo
isam::ChowLiuTreeNode
isam::MI
isam
covariance.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
covariance_8cpp
isam/covariance.h
isam/util.h
isam
std::list< Eigen::MatrixXd >
cov_marginal
namespaceisam.html
a565dcca29b3c9a6fcdbd2258cdb38dda
(const SparseMatrix &R, CovarianceCache &cache, const index_lists_t &index_lists, bool debug=false, int step=-1)
std::list< double >
cov_marginal
namespaceisam.html
aaf2590210b23df4ceac14ac3acbd3a6f
(const SparseMatrix &R, CovarianceCache &cache, const entry_list_t &entry_list)
const SparseVector &
get_row
namespaceisam.html
abe2f6dc54bf42763d44bdfe93f56810c
(const SparseMatrix &R, CovarianceCache &cache, int i)
void
prepare
namespaceisam.html
a5da95a1e34fa67cb137c34f163c4020d
(const SparseMatrix &R, CovarianceCache &cache)
double
recover
namespaceisam.html
a391b150fb918ed8a4a667b68eaa46e06
(const SparseMatrix &R, CovarianceCache &cache, int n, int i, int l)
double
sum_j
namespaceisam.html
a7b7361c04aada2e36d936b93e005e856
(const SparseMatrix &R, CovarianceCache &cache, int n, int l, int i)
covariance.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
covariance_8h
SparseMatrix.h
isam::CovarianceCache
isam
#define
USE_TR1
covariance_8h.html
a32980cb2944b13c340df1f16d50bcff0
std::vector< std::pair< int, int > >
entry_list_t
namespaceisam.html
a3735536bbaf6892718130767eedfca7b
std::vector< std::vector< int > >
index_lists_t
namespaceisam.html
a8402bad313091863b509cc0311167476
std::tr1::unordered_map< int, double >
umap
namespaceisam.html
aec42ced28a60eb28d07eb8f275f538f4
std::list< Eigen::MatrixXd >
cov_marginal
namespaceisam.html
a565dcca29b3c9a6fcdbd2258cdb38dda
(const SparseMatrix &R, CovarianceCache &cache, const index_lists_t &index_lists, bool debug=false, int step=-1)
std::list< double >
cov_marginal
namespaceisam.html
aaf2590210b23df4ceac14ac3acbd3a6f
(const SparseMatrix &R, CovarianceCache &cache, const entry_list_t &entry_list)
Covariances.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
Covariances_8cpp
isam/covariance.h
isam/Slam.h
isam/Covariances.h
isam
Covariances.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
Covariances_8h
SparseSystem.h
Node.h
covariance.h
isam::Covariances
isam
Element.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
Element_8h
isam::Element
isam
Factor.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
Factor_8h
util.h
Jacobian.h
Element.h
Node.h
Noise.h
numericalDiff.h
isam::Factor
isam::FactorT
isam
std::string
noise_to_string
namespaceisam.html
a6419cf8577d6dbef95f2ce76768348f1
(const Noise &noise)
featureTracking.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
featureTracking_8cpp
cameraParameters.h
pointDefinition.h
void
imageDataHandler
featureTracking_8cpp.html
adb1c76b019b47aa139357baba491725f
(const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr
imagePointsCur
featureTracking_8cpp.html
a2a5bbe6f9269d6cd664190be0c778e13
(new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr
imagePointsLast
featureTracking_8cpp.html
a5bb4b9efc169761f9ec117d4bd13319a
(new pcl::PointCloud< ImagePoint >())
int
main
featureTracking_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
cv_bridge::CvImage
bridge
featureTracking_8cpp.html
adfe6d65dc5fe5ef72f3660c2f2eb287a
CvPoint2D32f *
featuresCur
featureTracking_8cpp.html
aa2398c433cb6bc0817ae6448b2f68420
float
featuresError
featureTracking_8cpp.html
a5247b95a735e5641ddecb8c08e2e3864
[2 *MAXFEATURENUM]
char
featuresFound
featureTracking_8cpp.html
ab0552d47c70707260ecc25f59eed0406
[2 *MAXFEATURENUM]
int
featuresInd
featureTracking_8cpp.html
a12787ef1d3c69249e57e49d4c86ee141
[2 *MAXFEATURENUM]
int
featuresIndFromStart
featureTracking_8cpp.html
a67cb2bebfb792a5e972c3bb451b057e6
CvPoint2D32f *
featuresLast
featureTracking_8cpp.html
a240ea5970889e0b1d263fd70dc7dbad8
IplImage *
harrisLast
featureTracking_8cpp.html
a2992f74d5ce5f261c59b3360c90d70ff
IplImage *
imageCur
featureTracking_8cpp.html
a4c569584956d61ad1b1aabec639d6297
IplImage *
imageEig
featureTracking_8cpp.html
ab0c30e442f4a6318d7ae303617cb650b
IplImage *
imageLast
featureTracking_8cpp.html
a3bf92b456a4153d65adb196e5bb1a0be
const int
imagePixelNum
featureTracking_8cpp.html
a97c00fd1220d09193c47e7a31c79a016
ros::Publisher *
imagePointsLastPubPointer
featureTracking_8cpp.html
a7f6dc53a84437640c2f03f4baaf88dd4
IplImage *
imageShow
featureTracking_8cpp.html
ab448209d0d12da5f0cc0e06e2d9daf5c
ros::Publisher *
imageShowPubPointer
featureTracking_8cpp.html
aa345fcb9c3d7ba716a1c8e939006eaea
IplImage *
imageTmp
featureTracking_8cpp.html
a6fff1176e24aa06e3601dd8df0752fdd
CvSize
imgSize
featureTracking_8cpp.html
ade196ea612cc8bcb3a6919785e641ee0
CvMat
kMat
featureTracking_8cpp.html
a27c5bfbb4a7cff4fa95f6caa03a6d304
const int
MAXFEATURENUM
featureTracking_8cpp.html
a66816f5ddad4366fb641047abb9a20fc
const int
maxFeatureNumPerSubregion
featureTracking_8cpp.html
a61ebe2be42ba100d711b72c8cb0115bf
const double
maxTrackDis
featureTracking_8cpp.html
a6a431c2af437b734be3717506148bbf0
IplImage *
pyrCur
featureTracking_8cpp.html
a8f67eb9f0bebe025146a1e48611955c8
IplImage *
pyrLast
featureTracking_8cpp.html
ae0b5a2bec445f0d4d634b0e42a1e19cf
int
showCount
featureTracking_8cpp.html
a06097c961462438fbd1c9e232d46683f
const int
showDSRate
featureTracking_8cpp.html
ab512fd735a34f972ecb6599d6b64780a
CvSize
showSize
featureTracking_8cpp.html
aab662dc15972df16b0dcc8f635ccadd8
const int
showSkipNum
featureTracking_8cpp.html
afd6c7864308bdd99c502ca42d95d586e
int
subregionFeatureNum
featureTracking_8cpp.html
afdd9f3cf77470a0b01cfb5ed7a97c0c3
[2 *totalSubregionNum]
const double
subregionHeight
featureTracking_8cpp.html
a7c0b8e0da785e52fcafb1d6114521007
const double
subregionWidth
featureTracking_8cpp.html
a6d84a4142068ff02602e7f08683b0c12
bool
systemInited
featureTracking_8cpp.html
a534a66c5a6351aeab149899f07a9f76c
double
timeCur
featureTracking_8cpp.html
a1e2a8791707b887bc35caddd5e58ee63
double
timeLast
featureTracking_8cpp.html
a65d50f9b0ad0595ca991e1f3df765390
int
totalFeatureNum
featureTracking_8cpp.html
ac248ddcd34f0b6234ce06e0159fa68db
const int
totalSubregionNum
featureTracking_8cpp.html
a48eb064012b7218c120b4793597e0d74
const int
winSize
featureTracking_8cpp.html
a381f243d935c34c81d1a97d82b61e43b
const int
xBoundary
featureTracking_8cpp.html
a1e136a0ad0ecb06cf6ffca1267dadbd0
const int
xSubregionNum
featureTracking_8cpp.html
ae245d2d802e85890e9676d166a9c6719
const int
yBoundary
featureTracking_8cpp.html
a6fe51354d5a2bfce4a4863e096eaab72
const int
ySubregionNum
featureTracking_8cpp.html
a1032fc750529af82882554f90b07be06
featureTracking_ocl.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
featureTracking__ocl_8cpp
cameraParameters.h
pointDefinition.h
static void
download
featureTracking__ocl_8cpp.html
a7a4807c433849b27799195b7913d9762
(const oclMat &ocl_mat, vector< Point2f > &vec)
static void
download
featureTracking__ocl_8cpp.html
ac4792a804d3fb5002c47603ba8ee525d
(const oclMat &ocl_mat, vector< unsigned char > &vec)
void
imageDataHandler
featureTracking__ocl_8cpp.html
adb1c76b019b47aa139357baba491725f
(const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr
imagePointsCur
featureTracking__ocl_8cpp.html
a2a5bbe6f9269d6cd664190be0c778e13
(new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr
imagePointsLast
featureTracking__ocl_8cpp.html
a5bb4b9efc169761f9ec117d4bd13319a
(new pcl::PointCloud< ImagePoint >())
int
main
featureTracking__ocl_8cpp.html
a0ddf1224851353fc92bfbff6f499fa97
(int argc, char *argv[])
cv_bridge::CvImage
bridge
featureTracking__ocl_8cpp.html
adfe6d65dc5fe5ef72f3660c2f2eb287a
int
detectionCount
featureTracking__ocl_8cpp.html
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const int
detectionSkipNum
featureTracking__ocl_8cpp.html
ad83955f36301c573b272fe24470c7ffc
vector< Point2f > *
featuresCur
featureTracking__ocl_8cpp.html
accd1955ce0209b401357119b48e8e2fa
vector< int >
featuresInd
featureTracking__ocl_8cpp.html
a89e91bc1f4877b8f18d83ac1502f4add
int
featuresIndFromStart
featureTracking__ocl_8cpp.html
a67cb2bebfb792a5e972c3bb451b057e6
vector< Point2f > *
featuresLast
featureTracking__ocl_8cpp.html
ad06397e66f00abd2b60909f2277061fd
vector< unsigned char >
featuresStatus
featureTracking__ocl_8cpp.html
ab534b732af33056fc34803ceea4baf27
vector< Point2f >
featuresSub
featureTracking__ocl_8cpp.html
a30e2a06b4877af723a8d8d932a59f651
Mat
harrisLast
featureTracking__ocl_8cpp.html
a8fb70a03fc0951fbd0c020060c8a29e9
Mat
image0
featureTracking__ocl_8cpp.html
a404daa42c4da9b8dadf8b8078b186ec7
Mat
image1
featureTracking__ocl_8cpp.html
ab7cf7d984264fee95fb2644ba45e4259
ros::Publisher *
imagePointsLastPubPointer
featureTracking__ocl_8cpp.html
a7f6dc53a84437640c2f03f4baaf88dd4
Mat
imageShow
featureTracking__ocl_8cpp.html
abad50318c7621f10a818ce4df2cc53ae
ros::Publisher *
imageShowPubPointer
featureTracking__ocl_8cpp.html
aa345fcb9c3d7ba716a1c8e939006eaea
bool
isOddFrame
featureTracking__ocl_8cpp.html
a99adaeea5b0ef54e747a76ea5fae04ed
const int
MAXFEATURENUM
featureTracking__ocl_8cpp.html
a66816f5ddad4366fb641047abb9a20fc
const int
maxFeatureNumPerSubregion
featureTracking__ocl_8cpp.html
a61ebe2be42ba100d711b72c8cb0115bf
const double
maxTrackDis
featureTracking__ocl_8cpp.html
a6a431c2af437b734be3717506148bbf0
GoodFeaturesToTrackDetector_OCL
oclFeatureDetector
featureTracking__ocl_8cpp.html
a19d32db9626a75f38e4c5b4ecce016c8
oclMat
oclHarrisLast
featureTracking__ocl_8cpp.html
a9dc4a14dbe2ebd57ab803da0abd4f820
oclMat
oclImage0
featureTracking__ocl_8cpp.html
a7b8cb72f3c0b567437eb09387e222a3b
oclMat
oclImage1
featureTracking__ocl_8cpp.html
ad4ec2a1e32794cfa97cba76bf89ef72a
oclMat
oclImageShow
featureTracking__ocl_8cpp.html
a183dad19a13f67e98d43a7545ae1f7ef
PyrLKOpticalFlow
oclOpticalFlow
featureTracking__ocl_8cpp.html
a48047b0b73aa2c3c830226b47abc692b
int
showCount
featureTracking__ocl_8cpp.html
a06097c961462438fbd1c9e232d46683f
const int
showDSRate
featureTracking__ocl_8cpp.html
ab512fd735a34f972ecb6599d6b64780a
Size
showSize
featureTracking__ocl_8cpp.html
a91489f5a1b55c8b0bdb7afdc29085c74
const int
showSkipNum
featureTracking__ocl_8cpp.html
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int
subregionFeatureNum
featureTracking__ocl_8cpp.html
afdd9f3cf77470a0b01cfb5ed7a97c0c3
[2 *totalSubregionNum]
const double
subregionHeight
featureTracking__ocl_8cpp.html
a7c0b8e0da785e52fcafb1d6114521007
const double
subregionWidth
featureTracking__ocl_8cpp.html
a6d84a4142068ff02602e7f08683b0c12
bool
systemInited
featureTracking__ocl_8cpp.html
a534a66c5a6351aeab149899f07a9f76c
double
timeCur
featureTracking__ocl_8cpp.html
a1e2a8791707b887bc35caddd5e58ee63
double
timeLast
featureTracking__ocl_8cpp.html
a65d50f9b0ad0595ca991e1f3df765390
int
totalFeatureNum
featureTracking__ocl_8cpp.html
ac248ddcd34f0b6234ce06e0159fa68db
const int
totalSubregionNum
featureTracking__ocl_8cpp.html
a48eb064012b7218c120b4793597e0d74
const int
winSize
featureTracking__ocl_8cpp.html
a381f243d935c34c81d1a97d82b61e43b
const int
xBoundary
featureTracking__ocl_8cpp.html
a1e136a0ad0ecb06cf6ffca1267dadbd0
const int
xSubregionNum
featureTracking__ocl_8cpp.html
ae245d2d802e85890e9676d166a9c6719
const int
yBoundary
featureTracking__ocl_8cpp.html
a6fe51354d5a2bfce4a4863e096eaab72
const int
ySubregionNum
featureTracking__ocl_8cpp.html
a1032fc750529af82882554f90b07be06
glc.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
glc_8cpp
isam/glc.h
isam/util.h
isam/Rot3d.h
isam/ChowLiuTree.h
isam
#define
GLC_EPS
glc_8cpp.html
ae45144cbc66b9d4453470a7f7664ad18
#define
GLC_INCLUDE_IC_FACTORS
glc_8cpp.html
a12ba67204ce879f66c7476090c418a81
MatrixXd
glc_cholcov
namespaceisam.html
add77850e655f5891521ec789adee08b0
(MatrixXd A, double eps=numeric_limits< float >::epsilon())
std::vector< isam::Node * >
glc_elim_clique_nodes
namespaceisam.html
a91deaa69467ea43264e3a9d747a3fc98
(Node *node)
std::vector< Factor * >
glc_elim_factors
namespaceisam.html
a37329045475151dd0578ab892fbc60c3
(Node *node)
Factor *
glc_factor
namespaceisam.html
a7a831112d31b143624b505263929d3f4
(const MatrixXd &L, const vector< Node * > &clique_nodes, GLC_Reparam *rp)
MatrixXd
glc_get_weighted_jacobian
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depthCloud
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syncCloudHandler
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tempCloud
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tempCloud2
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tempCloud3
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voDataHandler
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depthCloudPubPointer
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rxRec
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ryRec
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rzRec
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pcl::PointCloud< pcl::PointXYZI >::Ptr
syncCloudArray
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syncCloudInd
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double
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Method
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tempCloud
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ryRec
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rzRec
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showCount
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ros::Publisher *
surroundCloudPubPointer
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syncCloudArray
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SparseMatrix
sparseMatrix_of_matrix
namespaceisam.html
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(const MatrixXd &m)
const int
MIN_NUM_COLS
namespaceisam.html
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const int
MIN_NUM_ROWS
namespaceisam.html
a0f76da15ae67c15a1d24e3338c7d5218
SparseMatrix.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
SparseMatrix_8h
SparseVector.h
isam::SparseMatrix
isam
SparseVector *
SparseVector_p
namespaceisam.html
a2a24530e5dd59bda75eaed04b7da5525
Eigen::MatrixXd
matrix_of_sparseMatrix
namespaceisam.html
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(const SparseMatrix &s)
Eigen::VectorXd
mul_SparseMatrixTrans_Vector
namespaceisam.html
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(const SparseMatrix &lhs, const Eigen::VectorXd &rhs)
const Eigen::VectorXd
operator*
namespaceisam.html
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(const SparseMatrix &lhs, const Eigen::VectorXd &rhs)
SparseMatrix
sparseMatrix_of_matrix
namespaceisam.html
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(const Eigen::MatrixXd &m)
SparseSystem.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
SparseSystem_8cpp
isam/util.h
isam/SparseSystem.h
isam
SparseSystem.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
SparseSystem_8h
OrderedSparseMatrix.h
isam::SparseSystem
isam
SparseVector.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
SparseVector_8cpp
isam/util.h
isam/SparseVector.h
isam
const int
INITIAL_ENTRIES
namespaceisam.html
acae3e5b9dde21ab3f035c9faf20db7f3
SparseVector.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
SparseVector_8h
isam/util.h
isam::SparseVector
isam::SparseVectorIter
isam
stackDepthPoint.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
stackDepthPoint_8cpp
pointDefinition.h
void
depthPointsHandler
stackDepthPoint_8cpp.html
a35b1b07b23552ab60003e2b140db1690
(const sensor_msgs::PointCloud2ConstPtr &depthPoints2)
pcl::PointCloud< DepthPoint >::Ptr
depthPointsStacked
stackDepthPoint_8cpp.html
a49a4836718e4aef3eb4676cca8cdbc43
(new pcl::PointCloud< DepthPoint >())
int
main
stackDepthPoint_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
pcl::PointCloud< DepthPoint >::Ptr
depthPoints
stackDepthPoint_8cpp.html
a6ee4c5e7771f32dc5aad26ba7f690af8
[keyframeNum]
ros::Publisher *
depthPointsPubPointer
stackDepthPoint_8cpp.html
a811aaab5175af05e7aae43f43074cc0b
double
depthPointsTime
stackDepthPoint_8cpp.html
ad5bd714348cea42e4d4a5e7be41bc9d7
[keyframeNum]
int
frameCount
stackDepthPoint_8cpp.html
abaf7d77bd2fc7eb6125fa605bd645b67
int
keyframeCount
stackDepthPoint_8cpp.html
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const int
keyframeNum
stackDepthPoint_8cpp.html
a9bcd6d55f60bae0f7435c37564fae96e
double
lastPubTime
stackDepthPoint_8cpp.html
a6d932b3b0a0a6ffc7853d80cf42e6c3a
const double
PI
stackDepthPoint_8cpp.html
a952eac791b596a61bba0a133a3bb439f
transformMaintenance.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
transformMaintenance_8cpp
int
main
transformMaintenance_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
odomAftBAHandler
transformMaintenance_8cpp.html
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(const nav_msgs::Odometry::ConstPtr &odomAftBA)
void
odomBefBAHandler
transformMaintenance_8cpp.html
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(const nav_msgs::Odometry::ConstPtr &odomBefBA)
void
transformAssociateToBA
transformMaintenance_8cpp.html
ad3fe2296d90bd87facd492f7f30ffec1
()
void
voDataHandler
transformMaintenance_8cpp.html
a5634fbe37814fb34f4ed2acfd9bee334
(const nav_msgs::Odometry::ConstPtr &voData)
const double
deg2rad
transformMaintenance_8cpp.html
a23e546ea0c6fff610d5fd31c1dc14607
const double
PI
transformMaintenance_8cpp.html
a952eac791b596a61bba0a133a3bb439f
double
pitchRec
transformMaintenance_8cpp.html
ae15d0b9482c96e77418ff363b61d05e5
const double
rad2deg
transformMaintenance_8cpp.html
adf40ec3dbb8479a78c3d408622405a79
double
rollRec
transformMaintenance_8cpp.html
ae597ec61487cb89e5437988da2ed5fc6
tf::TransformBroadcaster *
tfBroadcaster2Pointer
transformMaintenance_8cpp.html
ad89d06227082284836474158fd69fa63
double
timeOdomAftBA
transformMaintenance_8cpp.html
ad6038acabaf551a25283f718dc2b0237
double
timeOdomBefBA
transformMaintenance_8cpp.html
aa8eb13829636ab24006486e2c27bd80f
double
transformAftBA
transformMaintenance_8cpp.html
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[6]
double
transformBefBA
transformMaintenance_8cpp.html
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[6]
double
txRec
transformMaintenance_8cpp.html
a1fa382f37abc3deb4ab94b794b8cd589
double
tyRec
transformMaintenance_8cpp.html
af4ab6c53862318419d13c0a57dcabeaa
double
tzRec
transformMaintenance_8cpp.html
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nav_msgs::Odometry
voData2
transformMaintenance_8cpp.html
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ros::Publisher *
voData2PubPointer
transformMaintenance_8cpp.html
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tf::StampedTransform
voDataTrans2
transformMaintenance_8cpp.html
ace321d0a4697c830613d38944471ebd1
double
yawRec
transformMaintenance_8cpp.html
a7215244f8d5606c95780d407eef2bd2c
util.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/isamlib/
util_8cpp
isam/util.h
isam::Timing::Stats
isam::Timing
isam
Eigen::MatrixXd
eye
namespaceisam.html
a71cf56105b586a9d7ebe66196bda99d6
(int num)
void
givens
namespaceisam.html
a71699a878504aab1e2b3c60a7683b3e4
(const double a, const double b, double &c, double &s)
double
tic
namespaceisam.html
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()
double
tic
namespaceisam.html
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(string id)
double
tictoc
namespaceisam.html
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(string id)
void
tictoc_print
namespaceisam.html
a0f874b877d0c05617dbf106ba102f149
()
double
toc
namespaceisam.html
a70246a02eca9e3b01f685acd60868bbb
(double t0)
double
toc
namespaceisam.html
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(string id)
Timing
timing
namespaceisam.html
a8a04dfb59da03ca38cbb4f3dac42b757
util.h
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/include/isam/
util_8h
isam
#define
require
util_8h.html
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(req, msg)
#define
requireDebug
util_8h.html
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(req, msg)
double
deg_to_rad
namespaceisam.html
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(double d)
Eigen::MatrixXd
eye
namespaceisam.html
a71cf56105b586a9d7ebe66196bda99d6
(int num)
void
givens
namespaceisam.html
a71699a878504aab1e2b3c60a7683b3e4
(const double a, const double b, double &c, double &s)
T
pinv
namespaceisam.html
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(const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
T
posdef_pinv
namespaceisam.html
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(const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
double
rad_to_deg
namespaceisam.html
a8145329c90ff8355933c9f152e7c4d22
(double r)
double
standardRad
namespaceisam.html
a87cb4108d5c2666085b9922492d82bac
(double t)
double
tic
namespaceisam.html
a5b6e196d988969182d32bddc9e0bf062
()
double
tic
namespaceisam.html
ad2cf6c78241d04569c298116b953b51c
(std::string id)
double
tictoc
namespaceisam.html
a0281db0fdad35b833b329410afc10efa
(std::string id)
void
tictoc_print
namespaceisam.html
a0f874b877d0c05617dbf106ba102f149
()
double
toc
namespaceisam.html
a70246a02eca9e3b01f685acd60868bbb
(double t0)
double
toc
namespaceisam.html
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(std::string id)
const double
HALFPI
namespaceisam.html
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const double
NUMERICAL_ZERO
namespaceisam.html
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const double
PI
namespaceisam.html
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const double
TWOPI
namespaceisam.html
a51e347457855b78c692ddd64fe0fe186
visualOdometry.cpp
/home/rosbuild/hudson/workspace/doc-hydro-demo_rgbd/doc_stacks/2015-03-02_12-18-23.667414/demo_rgbd/src/
visualOdometry_8cpp
cameraParameters.h
pointDefinition.h
void
accumulateRotation
visualOdometry_8cpp.html
aa4e9531377c4f1e252d74381769dc408
(double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
pcl::PointCloud< pcl::PointXYZI >::Ptr
depthCloud
visualOdometry_8cpp.html
aa89a06daf882fc9fc881fc119e4cdeb8
(new pcl::PointCloud< pcl::PointXYZI >())
void
depthCloudHandler
visualOdometry_8cpp.html
a16025c798558d23de1b50894b1e766c1
(const sensor_msgs::PointCloud2ConstPtr &depthCloud2)
pcl::PointCloud< DepthPoint >::Ptr
depthPointsCur
visualOdometry_8cpp.html
abc13cffe7a32fc3864315e9119390ff8
(new pcl::PointCloud< DepthPoint >())
pcl::PointCloud< DepthPoint >::Ptr
depthPointsLast
visualOdometry_8cpp.html
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(new pcl::PointCloud< DepthPoint >())
pcl::PointCloud< DepthPoint >::Ptr
depthPointsSend
visualOdometry_8cpp.html
a2b21bd2b5f0f9c02d1d564a0d5225948
(new pcl::PointCloud< DepthPoint >())
void
diffRotation
visualOdometry_8cpp.html
ac619fac7805ef7dda09996978b95e159
(double cx, double cy, double cz, double lx, double ly, double lz, double &ox, double &oy, double &oz)
void
imageDataHandler
visualOdometry_8cpp.html
adb1c76b019b47aa139357baba491725f
(const sensor_msgs::Image::ConstPtr &imageData)
pcl::PointCloud< ImagePoint >::Ptr
imagePointsCur
visualOdometry_8cpp.html
a2a5bbe6f9269d6cd664190be0c778e13
(new pcl::PointCloud< ImagePoint >())
void
imagePointsHandler
visualOdometry_8cpp.html
aa65b995f61459f2fd2b905b1988020fe
(const sensor_msgs::PointCloud2ConstPtr &imagePoints2)
pcl::PointCloud< ImagePoint >::Ptr
imagePointsLast
visualOdometry_8cpp.html
a5bb4b9efc169761f9ec117d4bd13319a
(new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< pcl::PointXYZ >::Ptr
imagePointsProj
visualOdometry_8cpp.html
a8afb1643f60e361b1d7e40a1c75fa5f5
(new pcl::PointCloud< pcl::PointXYZ >())
void
imuDataHandler
visualOdometry_8cpp.html
a8adbd156a4042bf2233c4a472e3dd634
(const sensor_msgs::Imu::ConstPtr &imuData)
pcl::PointCloud< pcl::PointXYZHSV >::Ptr
ipRelations
visualOdometry_8cpp.html
a55b393ff08760a1fb27688af76fc1eb7
(new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud< pcl::PointXYZHSV >::Ptr
ipRelations2
visualOdometry_8cpp.html
a330179ecf1bd0dbe73cf63cac4061b1e
(new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::KdTreeFLANN< pcl::PointXYZI >::Ptr
kdTree
visualOdometry_8cpp.html
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(new pcl::KdTreeFLANN< pcl::PointXYZI >())
int
main
visualOdometry_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
pcl::PointCloud< ImagePoint >::Ptr
startPointsCur
visualOdometry_8cpp.html
ae87509579878d6b81d0aaf5a8a60048f
(new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< ImagePoint >::Ptr
startPointsLast
visualOdometry_8cpp.html
a435a156cf19ffb0b9195636d5ca0697b
(new pcl::PointCloud< ImagePoint >())
pcl::PointCloud< pcl::PointXYZHSV >::Ptr
startTransCur
visualOdometry_8cpp.html
ad33c283a9a8e200d059f1b594fcd5d7c
(new pcl::PointCloud< pcl::PointXYZHSV >())
pcl::PointCloud< pcl::PointXYZHSV >::Ptr
startTransLast
visualOdometry_8cpp.html
a5e92584a6e47f969cb846157886a95e2
(new pcl::PointCloud< pcl::PointXYZHSV >())
double
angleSum
visualOdometry_8cpp.html
ace31689b39473c0256a89aba3ff41c9e
[3]
int
depthCloudNum
visualOdometry_8cpp.html
a1cad2374a926b7116037bf425a707824
double
depthCloudTime
visualOdometry_8cpp.html
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int
depthPointsCurNum
visualOdometry_8cpp.html
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int
depthPointsLastNum
visualOdometry_8cpp.html
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ros::Publisher *
depthPointsPubPointer
visualOdometry_8cpp.html
a811aaab5175af05e7aae43f43074cc0b
int
imagePointsCurNum
visualOdometry_8cpp.html
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double
imagePointsCurTime
visualOdometry_8cpp.html
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int
imagePointsLastNum
visualOdometry_8cpp.html
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double
imagePointsLastTime
visualOdometry_8cpp.html
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ros::Publisher *
imagePointsProjPubPointer
visualOdometry_8cpp.html
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ros::Publisher *
imageShowPubPointer
visualOdometry_8cpp.html
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bool
imuInited
visualOdometry_8cpp.html
a3f1eae1409af2155f4a89c7aafc5257e
double
imuPitch
visualOdometry_8cpp.html
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[imuQueLength]
double
imuPitchCur
visualOdometry_8cpp.html
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double
imuPitchLast
visualOdometry_8cpp.html
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int
imuPointerFront
visualOdometry_8cpp.html
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int
imuPointerLast
visualOdometry_8cpp.html
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const int
imuQueLength
visualOdometry_8cpp.html
a3bbfe491420c4a37e2969b9492164e9e
double
imuRoll
visualOdometry_8cpp.html
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[imuQueLength]
double
imuRollCur
visualOdometry_8cpp.html
a4f1cd4d92841946bee88a134a9b57074
double
imuRollLast
visualOdometry_8cpp.html
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double
imuTime
visualOdometry_8cpp.html
a876c3e3d5a109db551d7326615432cda
[imuQueLength]
double
imuYaw
visualOdometry_8cpp.html
a3cb355a87abca7f72bc6cf0059537b0c
[imuQueLength]
double
imuYawCur
visualOdometry_8cpp.html
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double
imuYawInit
visualOdometry_8cpp.html
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double
imuYawLast
visualOdometry_8cpp.html
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std::vector< float > *
ipDepthCur
visualOdometry_8cpp.html
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std::vector< float > *
ipDepthLast
visualOdometry_8cpp.html
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std::vector< int >
ipInd
visualOdometry_8cpp.html
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std::vector< float >
ipy2
visualOdometry_8cpp.html
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const double
PI
visualOdometry_8cpp.html
a952eac791b596a61bba0a133a3bb439f
std::vector< int >
pointSearchInd
visualOdometry_8cpp.html
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std::vector< float >
pointSearchSqrDis
visualOdometry_8cpp.html
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const int
showDSRate
visualOdometry_8cpp.html
ab512fd735a34f972ecb6599d6b64780a
tf::TransformBroadcaster *
tfBroadcasterPointer
visualOdometry_8cpp.html
a8f65f2a112134ac2fe23261078746d27
double
transformSum
visualOdometry_8cpp.html
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[6]
ros::Publisher *
voDataPubPointer
visualOdometry_8cpp.html
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ImagePoint
structImagePoint.html
int
ind
structImagePoint.html
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float
u
structImagePoint.html
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float
v
structImagePoint.html
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Eigen
namespaceEigen.html
Matrix< double, 1, 1 >
Vector1d
namespaceEigen.html
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Matrix< bool, Dynamic, 1 >
VectorXb
namespaceEigen.html
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isam
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double(*
cost_func_t
namespaceisam.html
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)(double)
std::vector< std::pair< int, int > >
entry_list_t
namespaceisam.html
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std::vector< std::vector< int > >
index_lists_t
namespaceisam.html
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NodeT< Point2d >
Point2d_Node
namespaceisam.html
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Point3dT_Node< Point3d >
Point3d_Node
namespaceisam.html
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Point3dT_Node< Point3dh >
Point3dh_Node
namespaceisam.html
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NodeT< Pose2d >
Pose2d_Node
namespaceisam.html
aeba5a36da9b67cd93c13d0266d5dddba
NodeT< Pose3d >
Pose3d_Node
namespaceisam.html
a6bfdce2b91284c9213de6b5a5c626ec9
SparseVector *
SparseVector_p
namespaceisam.html
a2a24530e5dd59bda75eaed04b7da5525
std::list< Term >
Terms
namespaceisam.html
a847c8cdc4e21fe175e2819bb336fb77c
std::tr1::unordered_map< int, double >
umap
namespaceisam.html
aec42ced28a60eb28d07eb8f275f538f4
Eigen::Matrix< double, 6, 1 >
Vector6d
namespaceisam.html
a6e8a4364fe3efc06695de5b605d61e49
Method
namespaceisam.html
a13c8d22e2fa92170598a6dbcf266cc20
GAUSS_NEWTON
namespaceisam.html
a13c8d22e2fa92170598a6dbcf266cc20a03fc3d281ce1088dc5438f2b00fc778b
LEVENBERG_MARQUARDT
namespaceisam.html
a13c8d22e2fa92170598a6dbcf266cc20ad0a47ee8cd741b3cadcc057241abe0c2
DOG_LEG
namespaceisam.html
a13c8d22e2fa92170598a6dbcf266cc20a65e9c1b8c93cb09e4f88b8490fb919c2
Selector
namespaceisam.html
a836533cb9b2ffdec750f3acaf0304522
LINPOINT
namespaceisam.html
a836533cb9b2ffdec750f3acaf0304522aebb93f01ecd6731a1e5003d9510be348
ESTIMATE
namespaceisam.html
a836533cb9b2ffdec750f3acaf0304522a0afa96e7f4ebb5be622a0b936f4d6531
double
cost_blake_zisserman
namespaceisam.html
a83abd9363e308fbdc1832596c1b99e0f
(double d, double e)
double
cost_cauchy
namespaceisam.html
af91eeb1ea48efa7fa57948e236095dd5
(double d, double b=1.)
double
cost_corrupted_gaussian
namespaceisam.html
a89f33b318fad542c51f79a3f3022dbee
(double d, double w, double a)
double
cost_huber
namespaceisam.html
a858351547fc3924b95f1045ba8b93cbe
(double d, double b)
double
cost_l1
namespaceisam.html
aec8bf236aae95ec8c16fc88d65d6110e
(double d, double b=0.5)
double
cost_pseudo_huber
namespaceisam.html
a4f4029c79917ebcc0b8d7d143142be59
(double d, double b)
double
cost_squared
namespaceisam.html
ab0d736d65dcf7cb2e34964f39588034f
(double d)
std::list< Eigen::MatrixXd >
cov_marginal
namespaceisam.html
a565dcca29b3c9a6fcdbd2258cdb38dda
(const SparseMatrix &R, CovarianceCache &cache, const index_lists_t &index_lists, bool debug=false, int step=-1)
std::list< double >
cov_marginal
namespaceisam.html
aaf2590210b23df4ceac14ac3acbd3a6f
(const SparseMatrix &R, CovarianceCache &cache, const entry_list_t &entry_list)
double
deg_to_rad
namespaceisam.html
afd36a0cfd53433d4bc8f0e28a3838dff
(double d)
Eigen::MatrixXd
exmap_jacobian
namespaceisam.html
a99813cd2bf5f3168430deaec1faa2d75
(const std::vector< Node * > &nodes)
Eigen::MatrixXd
eye
namespaceisam.html
a71cf56105b586a9d7ebe66196bda99d6
(int num)
const SparseVector &
get_row
namespaceisam.html
abe2f6dc54bf42763d44bdfe93f56810c
(const SparseMatrix &R, CovarianceCache &cache, int i)
void
givens
namespaceisam.html
a71699a878504aab1e2b3c60a7683b3e4
(const double a, const double b, double &c, double &s)
MatrixXd
glc_cholcov
namespaceisam.html
add77850e655f5891521ec789adee08b0
(MatrixXd A, double eps=numeric_limits< float >::epsilon())
std::vector< isam::Node * >
glc_elim_clique_nodes
namespaceisam.html
a91deaa69467ea43264e3a9d747a3fc98
(Node *node)
std::vector< Factor * >
glc_elim_factors
namespaceisam.html
a37329045475151dd0578ab892fbc60c3
(Node *node)
Factor *
glc_factor
namespaceisam.html
a7a831112d31b143624b505263929d3f4
(const MatrixXd &L, const vector< Node * > &clique_nodes, GLC_Reparam *rp)
MatrixXd
glc_get_weighted_jacobian
namespaceisam.html
a85cf7bf1eca5a6803fa08eaf89cbeb43
(isam::Factor *f)
vector< Factor * >
glc_intra_clique_factors
namespaceisam.html
a3ca46c3bec4ce3d192792931cd96e5ae
(vector< Node * > clique_nodes, Node *node)
vector< Factor * >
glc_lift_factors
namespaceisam.html
ac53fa5af1eb3955e3beb8cade7864aff
(const MatrixXd &L, const vector< Node * > &clique_nodes, bool sparse, GLC_Reparam *rp)
std::vector< Factor * >
glc_remove_node
namespaceisam.html
a2b67e530e5e1dfaa847e1c45c6d2e44b
(Slam &slam, Node *node, bool sparse=false, GLC_Reparam *rp=NULL)
MatrixXd
glc_target_info
namespaceisam.html
a47e16c63a35528a1099b0767a0fc5bc9
(Node *node, vector< Node * > &clique_nodes, vector< Factor * > &ic_factors)
Eigen::MatrixXd
matrix_of_sparseMatrix
namespaceisam.html
a4d9db959350794c597c6a1639e69f6a1
(const SparseMatrix &s)
MatrixXd
matslice
namespaceisam.html
ac496fdf0f27c68dff57ffac458d5e30b
(const MatrixXd A, vector< int > ii, vector< int > jj)
bool
mi_sort
namespaceisam.html
a5c6aefaa5620cab4d4d4a1c8e14c2706
(MI &first, MI &second)
Eigen::VectorXd
mul_SparseMatrixTrans_Vector
namespaceisam.html
a1d23d581cd34bf63608a88612d19668b
(const SparseMatrix &lhs, const Eigen::VectorXd &rhs)
VectorXd
mul_SparseMatrixTrans_Vector
namespaceisam.html
a9faaa59d4d7558c6259ff3e87e0a84d4
(const SparseMatrix &lhs, const VectorXd &rhs)
std::string
noise_to_string
namespaceisam.html
a6419cf8577d6dbef95f2ce76768348f1
(const Noise &noise)
Eigen::MatrixXd
numericalDiff
namespaceisam.html
a0aeb166cf3be172ba70210486b7b9afa
(Function &func)
const Eigen::VectorXd
operator*
namespaceisam.html
ab130edf6354be19f1a6baba85b34becc
(const SparseMatrix &lhs, const Eigen::VectorXd &rhs)
const VectorXd
operator*
namespaceisam.html
a623d8815ac8152ab1d5fdf5614204a50
(const SparseMatrix &lhs, const VectorXd &rhs)
T
pinv
namespaceisam.html
ad21c649a9188b297d97c89a163b2fa0d
(const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
T
posdef_pinv
namespaceisam.html
a570aa6971c17c15476b01a40e430e161
(const T &a, double eps=std::numeric_limits< typename T::Scalar >::epsilon())
void
prepare
namespaceisam.html
a5da95a1e34fa67cb137c34f163c4020d
(const SparseMatrix &R, CovarianceCache &cache)
double
rad_to_deg
namespaceisam.html
a8145329c90ff8355933c9f152e7c4d22
(double r)
double
recover
namespaceisam.html
a391b150fb918ed8a4a667b68eaa46e06
(const SparseMatrix &R, CovarianceCache &cache, int n, int i, int l)
SparseMatrix
sparseMatrix_of_matrix
namespaceisam.html
ab7d77954d92fcc0c2ec48944ff0110be
(const Eigen::MatrixXd &m)
SparseMatrix
sparseMatrix_of_matrix
namespaceisam.html
ab10eca0e56532ed3fad14b0b13d3fb80
(const MatrixXd &m)
double
standardRad
namespaceisam.html
a87cb4108d5c2666085b9922492d82bac
(double t)
double
sum_j
namespaceisam.html
a7b7361c04aada2e36d936b93e005e856
(const SparseMatrix &R, CovarianceCache &cache, int n, int l, int i)
double
tic
namespaceisam.html
a5b6e196d988969182d32bddc9e0bf062
()
double
tic
namespaceisam.html
ad2cf6c78241d04569c298116b953b51c
(std::string id)
double
tic
namespaceisam.html
a702a6031e714c70c4d9418a2d399dd0f
(string id)
double
tictoc
namespaceisam.html
a0281db0fdad35b833b329410afc10efa
(std::string id)
double
tictoc
namespaceisam.html
a81eeb7cbf86d931ed22ba3c6f98ffb70
(string id)
void
tictoc_print
namespaceisam.html
a0f874b877d0c05617dbf106ba102f149
()
double
toc
namespaceisam.html
a70246a02eca9e3b01f685acd60868bbb
(double t0)
double
toc
namespaceisam.html
a674ac55d82c35989301a86845686daa6
(std::string id)
double
toc
namespaceisam.html
a2576f150031985eb205eb1682b469f33
(string id)
const double
epsilon
namespaceisam.html
af36f3f5fae52f9521005268b7b9586e0
const double
HALFPI
namespaceisam.html
a2661e810eefa6f658d47a02b1b73481d
const int
INITIAL_ENTRIES
namespaceisam.html
acae3e5b9dde21ab3f035c9faf20db7f3
const int
MIN_NUM_COLS
namespaceisam.html
a9a9b5bf5ec0ed2b23d7dbda770ece17e
const int
MIN_NUM_ROWS
namespaceisam.html
a0f76da15ae67c15a1d24e3338c7d5218
const double
NUMERICAL_ZERO
namespaceisam.html
a72e504281997f98717eb90d0ac13b113
const double
PI
namespaceisam.html
ac479d2bd3a19d7f806a31c635ea2e90f
Timing
timing
namespaceisam.html
a8a04dfb59da03ca38cbb4f3dac42b757
const double
TWOPI
namespaceisam.html
a51e347457855b78c692ddd64fe0fe186
isam::Anchor2d_Node
classisam_1_1Anchor2d__Node.html
isam::NodeT
void
add_anchor
classisam_1_1Anchor2d__Node.html
ae48a936193bacddbe2f647f76aa7adc0
(Anchor2d_Node *a)
Anchor2d_Node
classisam_1_1Anchor2d__Node.html
aea487f376c62b1371ee0687fb177a7f8
(Slam *slam)
void
merge
classisam_1_1Anchor2d__Node.html
a7feb362cdc08cb5ccfa5943cb7351b42
(Anchor2d_Node *a, Pose2d old_origin)
Anchor2d_Node *
parent
classisam_1_1Anchor2d__Node.html
a40aa8c8de9fb0a5b96d752621f261b64
()
void
set_prior
classisam_1_1Anchor2d__Node.html
a6937cde3c871a851844d0144467738ae
()
~Anchor2d_Node
classisam_1_1Anchor2d__Node.html
adbef4828d89fdef7bdc81edf512aa92b
()
std::vector< Anchor2d_Node * >
_childs
classisam_1_1Anchor2d__Node.html
a0b00192e33d856e6a97d742a69ba040a
Anchor2d_Node *
_parent
classisam_1_1Anchor2d__Node.html
a751e99d6db253f18ff2548fdef323a72
Factor *
_prior
classisam_1_1Anchor2d__Node.html
aee45be0f168f506268af11b0678626cd
Slam *
_slam
classisam_1_1Anchor2d__Node.html
a77a2168de92970a9d18699961316613e
isam::Anchor3d_Node
classisam_1_1Anchor3d__Node.html
isam::NodeT
void
add_anchor
classisam_1_1Anchor3d__Node.html
ad1f366720c0026339333fd5449fce658
(Anchor3d_Node *a)
Anchor3d_Node
classisam_1_1Anchor3d__Node.html
a16ce5ac876be0ae74eb0afcd84112ac8
(Slam *slam)
void
merge
classisam_1_1Anchor3d__Node.html
a7ad39dd0523773bff08844524ed20753
(Anchor3d_Node *a, Pose3d old_origin)
Anchor3d_Node *
parent
classisam_1_1Anchor3d__Node.html
a5aacde29687d2fe2d3b1a2981a6c6400
()
void
set_prior
classisam_1_1Anchor3d__Node.html
a146a09828fb16629ce0d99d071f72591
()
~Anchor3d_Node
classisam_1_1Anchor3d__Node.html
a612dcbe692ebb65f3c2c85b807028b1f
()
std::vector< Anchor3d_Node * >
_childs
classisam_1_1Anchor3d__Node.html
ac6986241e4f1cf8d8c64584b87a78d68
Anchor3d_Node *
_parent
classisam_1_1Anchor3d__Node.html
a991008b451957dabc0c290311026d059
Factor *
_prior
classisam_1_1Anchor3d__Node.html
adc48ef7f5544a7c65b3f2abdeeab5e1e
Slam *
_slam
classisam_1_1Anchor3d__Node.html
ac7313cd110894109a68fa1dd7c46169b
isam::Cholesky
classisam_1_1Cholesky.html
virtual void
factorize
classisam_1_1Cholesky.html
aae3cb29b7e1a7ce859b042cfe1895ae8
(const SparseSystem &Ab, Eigen::VectorXd *delta=NULL, double lambda=0.)=0
virtual int *
get_order
classisam_1_1Cholesky.html
a36565f2ebb45c1efab5fcbcf138dff69
()=0
virtual void
get_R
classisam_1_1Cholesky.html
a09e53fefa45f26dd5a9b334dcd59bf4f
(SparseSystem &R)=0
virtual
~Cholesky
classisam_1_1Cholesky.html
ae0bd46f6cee4e0b4b5cd4ef1ac4743a5
()
static Cholesky *
Create
classisam_1_1Cholesky.html
a3eaca52466b594d053ff023ae25c406c
()
Cholesky
classisam_1_1Cholesky.html
a30b15aa9f11add56d4b695adeac49761
()
isam::CholeskyImpl
classisam_1_1CholeskyImpl.html
isam::Cholesky
CholeskyImpl
classisam_1_1CholeskyImpl.html
ab2103bbd02e1a1099b312965bdde463c
()
void
factorize
classisam_1_1CholeskyImpl.html
a2f80fa80d015e4a504daa06136a109d9
(const SparseSystem &Ab, VectorXd *delta=NULL, double lambda=0)
int *
get_order
classisam_1_1CholeskyImpl.html
ab4317228f1d500c14eb9cfaf4b6d3728
()
void
get_R
classisam_1_1CholeskyImpl.html
add7fcb5322f9935e310d833ef3cf765a
(SparseSystem &R)
virtual
~CholeskyImpl
classisam_1_1CholeskyImpl.html
ac04ad60ec17148e6ad7a3b0c217f6ee6
()
void
of_cholmod_transp
classisam_1_1CholeskyImpl.html
a39a7e9117de7e07d2efb2e0779a4972e
(const cholmod_sparse *T, SparseSystem &A, int *order)
void
reset
classisam_1_1CholeskyImpl.html
a17ed01d5121e0dadeb2946e86c416d39
()
cholmod_sparse *
to_cholmod_transp
classisam_1_1CholeskyImpl.html
a607218dac591dd99fd2bd15a234fafe4
(const SparseSystem &A)
cholmod_sparse *
_L
classisam_1_1CholeskyImpl.html
a15b3c0110c6e41ce76f56c1cb0eb755b
int *
_order
classisam_1_1CholeskyImpl.html
a2b51d533a630fd77f35fc9075b5719cb
cholmod_dense *
_rhs
classisam_1_1CholeskyImpl.html
a2b2e634f6021357c6ef598875d19c964
cholmod_common
Common
classisam_1_1CholeskyImpl.html
ad0b55837b288f3df6d75b76122c86008
isam::CholeskyImplCSparse
classisam_1_1CholeskyImplCSparse.html
isam::Cholesky
int *
cholesky
classisam_1_1CholeskyImplCSparse.html
a34bb60ea4a1d2f8b47f59d9a3d5e391f
(cs *csA, cs *csAt, int n, double lambda, css *S, csn *N)
CholeskyImplCSparse
classisam_1_1CholeskyImplCSparse.html
ae975cac948c62adaea1ce318ef27b0a1
()
void
factorize
classisam_1_1CholeskyImplCSparse.html
a49b626fabaa68ca3fa95d6cb64d01c37
(const SparseSystem &Ab, VectorXd *delta=NULL, double lambda=0)
int *
get_order
classisam_1_1CholeskyImplCSparse.html
a6deae9391edc4415ca5e8e5d345c8ad2
()
void
get_R
classisam_1_1CholeskyImplCSparse.html
a59fe3f35ca573c5cd2b61f7cc3e974c5
(SparseSystem &R)
int *
qr
classisam_1_1CholeskyImplCSparse.html
aa56cf1831de3e602861b331e34b00026
(cs *csA, int n, css *S, csn *N)
virtual
~CholeskyImplCSparse
classisam_1_1CholeskyImplCSparse.html
a086226577942cdcc8a6b16848b7c3800
()
void
of_csparse_transp
classisam_1_1CholeskyImplCSparse.html
a448fcf0e7c77ad38e1e01a318ab7b10c
(const cs *T, SparseSystem &A, int *order)
void
reset
classisam_1_1CholeskyImplCSparse.html
ad922e9ee6bd158cf1e12b215378789cc
()
cs *
to_csparse_transp
classisam_1_1CholeskyImplCSparse.html
ab626b1f6f6105b941d05d1ce308fe326
(const SparseMatrix &A) const
cs *
_L
classisam_1_1CholeskyImplCSparse.html
a8154250ef68f061ceab0297b3fbe0afd
int *
_order
classisam_1_1CholeskyImplCSparse.html
aa69643abf073fc55ddf5f3f50e9fac0b
double *
_rhs
classisam_1_1CholeskyImplCSparse.html
acd8d5e4455c0c03fb1e94bd6e36d3c42
isam::ChowLiuTree
classisam_1_1ChowLiuTree.html
ChowLiuTree
classisam_1_1ChowLiuTree.html
a8569260eb1b2807630a8f116e5478f6b
(const Eigen::MatrixXd &L, const std::vector< Node * > &nodes)
std::map< int, ChowLiuTreeNode >
tree
classisam_1_1ChowLiuTree.html
a2a88cff3cedab1f0e2dad1530b124122
void
_build_tree_rec
classisam_1_1ChowLiuTree.html
acbdce539982fdc3c813b6339ca37d375
(int id, int pid)
void
_calc_edges
classisam_1_1ChowLiuTree.html
a1561a1adb9268f5b4068d795631093a4
()
double
_calc_mi
classisam_1_1ChowLiuTree.html
a34375628e13910f953841c0aa4710e8c
(int ida, int idb)
void
_max_span_tree
classisam_1_1ChowLiuTree.html
ae8c7ddcc324debcf74f63c2bd6d92a84
()
ChowLiuTreeInfo
_clt_info
classisam_1_1ChowLiuTree.html
a26c72202c1ff6b752e1fbd542ca5c212
std::list< MI >
_edges
classisam_1_1ChowLiuTree.html
a221839014335cabd1ef54ab4af9d4e87
isam::ChowLiuTreeInfo
classisam_1_1ChowLiuTreeInfo.html
ChowLiuTreeInfo
classisam_1_1ChowLiuTreeInfo.html
ab8f4085def8e4a2cc95878385ffdc1a4
(const Eigen::MatrixXd &L, const std::vector< Node * > &nodes)
Eigen::MatrixXd
conditional
classisam_1_1ChowLiuTreeInfo.html
a475e0e44ac32183599b0f1fe550e8b80
(int ida, int idb)
Eigen::MatrixXd
joint
classisam_1_1ChowLiuTreeInfo.html
a676dd268fa80dc64a6ec2c7394309fcd
(int ida, int idb)
Eigen::MatrixXd
marginal
classisam_1_1ChowLiuTreeInfo.html
ab861743c323a17ffc55c251906afeb85
(int id)
int
num_nodes
classisam_1_1ChowLiuTreeInfo.html
a7a10b9713923230231d8828a95146d7a
()
const Eigen::MatrixXd &
_L
classisam_1_1ChowLiuTreeInfo.html
a961335b3802863f048d9103a66112297
const std::vector< Node * > &
_nodes
classisam_1_1ChowLiuTreeInfo.html
acb5fc28984e9b776ceb6f5d0366e9e2b
isam::ChowLiuTreeNode
classisam_1_1ChowLiuTreeNode.html
bool
is_leaf
classisam_1_1ChowLiuTreeNode.html
a667b5467cdb27e62c3827ba8a8250225
()
bool
is_root
classisam_1_1ChowLiuTreeNode.html
a6e5f88953bba234e4e5f9e71b4b2e5dd
()
std::vector< int >
cids
classisam_1_1ChowLiuTreeNode.html
ac5ad7e667901090686c0760b24cdec53
Eigen::MatrixXd
conditional
classisam_1_1ChowLiuTreeNode.html
a1c25896b3be0a0ef34a6fe6297b650b6
int
id
classisam_1_1ChowLiuTreeNode.html
afde258890bc4214af620f75541973a8f
Eigen::MatrixXd
joint
classisam_1_1ChowLiuTreeNode.html
a42f6a6f4c38fdee011f41f374cde6998
Eigen::MatrixXd
marginal
classisam_1_1ChowLiuTreeNode.html
a8a94e57fce75acfd7c4609fb2db2748f
int
pid
classisam_1_1ChowLiuTreeNode.html
ad36ddad5934d47917ec0af8d9d778c43
isam::Covariance
classisam_1_1Covariance.html
isam::Noise
Covariance
classisam_1_1Covariance.html
a727e86639f78eb678e8cbb4e2a1c8c3b
(const Eigen::MatrixXd &cov)
isam::CovarianceCache
classisam_1_1CovarianceCache.html
CovarianceCache
classisam_1_1CovarianceCache.html
a558644c697914d92cf55658256e62bec
()
unsigned int
current_valid
classisam_1_1CovarianceCache.html
a1e34a77d6d192b9920a827437444d401
std::vector< double >
diag
classisam_1_1CovarianceCache.html
a630250fc95754a453b480c8eaf6cde49
umap
entries
classisam_1_1CovarianceCache.html
a96743849829117718d07c868a9c5a1e8
int
num_calc
classisam_1_1CovarianceCache.html
afa38a8d90220a7a577c8944e63556474
std::vector< SparseVector >
rows
classisam_1_1CovarianceCache.html
ac2322eb8208cd6fdaa02d343b3a8628a
std::vector< unsigned int >
rows_valid
classisam_1_1CovarianceCache.html
ac7702c1dbac40714c95e96ed5767dafe
isam::Covariances
classisam_1_1Covariances.html
std::list< std::list< Node * > >
node_lists_t
classisam_1_1Covariances.html
a4fd792ec309be3a367bd5ee73844f6dc
std::list< std::pair< Node *, Node * > >
node_pair_list_t
classisam_1_1Covariances.html
a25a3e338a216f00036e49fe37c1903d4
virtual std::list< Eigen::MatrixXd >
access
classisam_1_1Covariances.html
ab68d09ce1d4481a6ea6dcb3678a6e25c
(const node_pair_list_t &node_pair_list) const
virtual Covariances
clone
classisam_1_1Covariances.html
a7eea2512bb4010cbfdddf45b87772989
() const
Covariances
classisam_1_1Covariances.html
a3436f24d24c5ab1d724b3fc1b530def9
(Slam *slam)
virtual std::list< Eigen::MatrixXd >
marginal
classisam_1_1Covariances.html
a756cfa1313bf90d3ae9bfc0ab00954e9
(const node_lists_t &node_lists) const
virtual Eigen::MatrixXd
marginal
classisam_1_1Covariances.html
a77d2bb01597d7b342f0c2508b46f312c
(const std::list< Node * > &nodes) const
virtual
~Covariances
classisam_1_1Covariances.html
a22c5507d45fb0385cea19ad4d281f909
()
Covariances
classisam_1_1Covariances.html
a87b20388b06953e519ec81e88e7b3ba7
(Slam &slam)
int
get_dim
classisam_1_1Covariances.html
a2e0daecceca256831e620ca4dfef3302
(Node *node) const
int
get_start
classisam_1_1Covariances.html
a9063e850056a75e3f938b205a2a90009
(Node *node) const
CovarianceCache
_cache
classisam_1_1Covariances.html
a6757833457d37618a66df01596ce5b67
std::map< Node *, std::pair< int, int > >
_index
classisam_1_1Covariances.html
a1fd09e145d086477646153733a6254a4
SparseSystem
_R
classisam_1_1Covariances.html
abeb2dc5765ae13ffcc31c27eec491a2b
Slam *
_slam
classisam_1_1Covariances.html
a4ae5796721814c3e9dcf0212a972aed2
isam::DeleteOnReturn
structisam_1_1DeleteOnReturn.html
DeleteOnReturn
structisam_1_1DeleteOnReturn.html
a05948dd2f854afea021e712f9336469d
(SparseVector **ptr)
~DeleteOnReturn
structisam_1_1DeleteOnReturn.html
a6490eeafaa0e8fcc87d71b4345468f7e
()
SparseVector **
_ptr
structisam_1_1DeleteOnReturn.html
aa066520933ddb02b59054c9cf9be6536
isam::Depthmono_Factor
classisam_1_1Depthmono__Factor.html
FactorT< DepthmonoMeasurement >
Eigen::VectorXd
basic_error
classisam_1_1Depthmono__Factor.html
a7cd992533e67bee52c43d4a7e3a848c4
(Selector s=ESTIMATE) const
Depthmono_Factor
classisam_1_1Depthmono__Factor.html
a6f47cc83cd33e1f8420d4558ce91d942
(Pose3d_Node *pose, Point3dh_Node *point, DepthmonoCamera *camera, const DepthmonoMeasurement &measure, const Noise &noise, bool relative=false)
Depthmono_Factor
classisam_1_1Depthmono__Factor.html
a0cf37b61768c54d4d663d4d583ae2d6b
(Pose3d_Node *pose, Point3d_Node *point, DepthmonoCamera *camera, const DepthmonoMeasurement &measure, const Noise &noise, bool relative=false)
void
initialize
classisam_1_1Depthmono__Factor.html
a3add4e60380a2b8692f709e5a2d7bf74
()
Pose3d_Node *
_base
classisam_1_1Depthmono__Factor.html
a259f5c2e714bb5043c2bfab305df7097
DepthmonoCamera *
_camera
classisam_1_1Depthmono__Factor.html
ae3de8f947cdfdd922c1afba41f763186
Point3d_Node *
_point
classisam_1_1Depthmono__Factor.html
aeca60012c7d5efef1dbe944f7141abdc
Point3dh_Node *
_point_h
classisam_1_1Depthmono__Factor.html
a53445506c9965d8bda976f8b166b48ce
Pose3d_Node *
_pose
classisam_1_1Depthmono__Factor.html
a771ea6352e59d6056e405e20954b2a50
bool
_relative
classisam_1_1Depthmono__Factor.html
abdd9dcaa211e90cd774e89f1b0f1ff38
isam::DepthmonoCamera
classisam_1_1DepthmonoCamera.html
Point3dh
backproject
classisam_1_1DepthmonoCamera.html
aa6c9969ff3a94552bdef665bc45300d7
(const Pose3d &pose, const DepthmonoMeasurement &measure) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
DepthmonoCamera
classisam_1_1DepthmonoCamera.html
a8881b769d54f1eaa3008fcdce5d9490c
()
DepthmonoCamera
classisam_1_1DepthmonoCamera.html
a79d9da7b6a9a24f38c5330ee8c5ca3b1
(double f, const Eigen::Vector2d &pp)
double
focalLength
classisam_1_1DepthmonoCamera.html
aca6949d5786ff6e8e709884fdbaf55fc
() const
Eigen::Vector2d
principalPoint
classisam_1_1DepthmonoCamera.html
a16bfe100b225fe72252796c4a50f5b05
() const
DepthmonoMeasurement
project
classisam_1_1DepthmonoCamera.html
a061074215f4eb1135c3a1c5ee89a35da
(const Pose3d &pose, const Point3dh &Xw) const
double
_b
classisam_1_1DepthmonoCamera.html
ac18ca06edf724aa858c85df59bf2e85b
double
_f
classisam_1_1DepthmonoCamera.html
a0112296505c5e4f92b7bc4669c5b6be1
Eigen::Vector2d
_pp
classisam_1_1DepthmonoCamera.html
a1646a079fcdc70aa5de0999f13887997
isam::DepthmonoMeasurement
classisam_1_1DepthmonoMeasurement.html
DepthmonoMeasurement
classisam_1_1DepthmonoMeasurement.html
a1705cf7c8c7a7c41e9debd88b37f599c
(double u, double v, double depth)
DepthmonoMeasurement
classisam_1_1DepthmonoMeasurement.html
aa306c225651aee7858d127395f5e719e
(double u, double v, double depth, bool valid)
Eigen::Vector3d
vector
classisam_1_1DepthmonoMeasurement.html
ad12007a99ee9c9c7fd60d218fa6ee89e
() const
void
write
classisam_1_1DepthmonoMeasurement.html
aa2bccfaf9c4e840680a1eb0e0f256900
(std::ostream &out) const
double
depth
classisam_1_1DepthmonoMeasurement.html
acacbf2dade631bfd65686ef9018ab9e4
double
u
classisam_1_1DepthmonoMeasurement.html
a2fe52fc2b50527312fbde2ee72759336
double
v
classisam_1_1DepthmonoMeasurement.html
acb22dc2d12b2f225595ff6a209560171
bool
valid
classisam_1_1DepthmonoMeasurement.html
ab9d163682d27d6a8ce65aceb24bd8844
friend std::ostream &
operator<<
classisam_1_1DepthmonoMeasurement.html
a271add78ace134f640be02a5049ea348
(std::ostream &out, const DepthmonoMeasurement &t)
isam::Element
classisam_1_1Element.html
int
dim
classisam_1_1Element.html
a00aa4707774c9e26f06ec3f7b0dfbaa1
() const
Element
classisam_1_1Element.html
ace8bd885e4a0981c7e23211bff3c460f
(const char *name, int dim)
virtual const char *
name
classisam_1_1Element.html
abc23d602004e5773acff4b378df0e70e
() const
int
start
classisam_1_1Element.html
a17b486348f3c486b66987daa11e71409
() const
virtual int
unique_id
classisam_1_1Element.html
aa96d96e45db75843ee64a06b815edabb
()
virtual void
write
classisam_1_1Element.html
aa04c620388249a1212b8d497e2c5645d
(std::ostream &out) const
virtual
~Element
classisam_1_1Element.html
a2d9205f42f3c3deb978c82a41be5675c
()
int
_dim
classisam_1_1Element.html
aa4fe00319df224f22ae1984501c6d716
int
_id
classisam_1_1Element.html
a51b354aaaf30a169032959185832a3f1
Element
classisam_1_1Element.html
a2fa0fba6d9d056fc3bd2dc9e90b385b4
(const Element &rhs)
const Element &
operator=
classisam_1_1Element.html
a23d1fcd2fe6cb7157c7c23ec701cdbf1
(const Element &rhs)
const char *
_name
classisam_1_1Element.html
ae6c686b1cae91ae0cf298028d669d6a1
int
_start
classisam_1_1Element.html
a095857dc18153adbd9fb10d26004a15a
friend class
Covariances
classisam_1_1Element.html
ad09c79128a9cc8554d566ebb95e311b3
friend class
Slam
classisam_1_1Element.html
a13edd4733217a1d9b84cea9390d392bf
isam::Factor
classisam_1_1Factor.html
isam::Element
isam::Function
virtual Eigen::VectorXd
basic_error
classisam_1_1Factor.html
a1a10747b8f2a0cfb3d411648df8c4908
(Selector s=ESTIMATE) const =0
bool
deleted
classisam_1_1Factor.html
a490283059aabd8127e4fb4d6126a2948
() const
virtual Eigen::VectorXd
error
classisam_1_1Factor.html
a64fde58e640971887fc1a0d9a3d00572
(Selector s=ESTIMATE) const
Eigen::VectorXd
evaluate
classisam_1_1Factor.html
a9739a37d1dec768591a6e55447a63dbe
() const
Factor
classisam_1_1Factor.html
a17319a0de33096815b4a7eecce72fd2a
(const char *name, int dim, const Noise &noise)
virtual void
initialize
classisam_1_1Factor.html
a4db40d525c9d19c5ad6f79447b042ab3
()=0
virtual void
initialize_internal
classisam_1_1Factor.html
ad235f483efe40549cf9296ee35f42913
()
virtual Jacobian
jacobian
classisam_1_1Factor.html
a93e223b0574dbd38cab636f6fc51bf1d
()
virtual Jacobian
jacobian_internal
classisam_1_1Factor.html
ab6eb020f93aa4b8f1440aca889111004
(bool force_numerical)
void
mark_deleted
classisam_1_1Factor.html
ad26570607584eada774a0f3299e56aae
()
std::vector< Node * > &
nodes
classisam_1_1Factor.html
ab79a618644047de8c76e63a8b3fcfcb5
()
int
num_measurements
classisam_1_1Factor.html
ae6e199c50db1f00ff36a1e1c0b6eb804
() const
virtual void
set_cost_function
classisam_1_1Factor.html
afe6806ad9d967dbe25c6feb39b158305
(cost_func_t *ptr)
virtual const Eigen::MatrixXd &
sqrtinf
classisam_1_1Factor.html
a8a541525c0524c587a4df15763756a4f
() const
virtual void
write
classisam_1_1Factor.html
a05af529381dea1efe872b43fc51059ae
(std::ostream &out) const
virtual
~Factor
classisam_1_1Factor.html
afc291c3b2428a5784a7e5426d66ac022
()
std::vector< Node * >
_nodes
classisam_1_1Factor.html
ad81769f3006efad9cb3488be4ab0a64c
const Noise
_noise
classisam_1_1Factor.html
ab032106f1281ed518680620c9adf2a58
virtual Eigen::MatrixXd
numerical_jacobian
classisam_1_1Factor.html
a0c9d5efe0a6524456d932f48d6b63c7e
()
bool
_deleted
classisam_1_1Factor.html
a0daf8bde9bc0d716318ae8dc1324804c
cost_func_t *
ptr_cost_func
classisam_1_1Factor.html
a436793222d15aef7113f0b95d98c6ef9
static int
_next_id
classisam_1_1Factor.html
a744db1ee2a166c34a37350df7d99c278
friend std::ostream &
operator<<
classisam_1_1Factor.html
a33e6ac8e8d40ff2369603f6c60f28604
(std::ostream &output, const Factor &e)
isam::FactorT
classisam_1_1FactorT.html
T
isam::Factor
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
FactorT
classisam_1_1FactorT.html
aab5ec3d9789a318b0e32f379b8cc2faa
(const char *name, int dim, const Noise &noise, const T &measure)
const T &
measurement
classisam_1_1FactorT.html
ac5a5178f373f40f89492ebc02a379b5b
() const
void
write
classisam_1_1FactorT.html
a6e8a7e8b229b8bc0e722389ba9bf0b2a
(std::ostream &out) const
const T
_measure
classisam_1_1FactorT.html
a3ccb0ced576b39efe6dd2ba5a454b73e
isam::Function
classisam_1_1Function.html
virtual Eigen::VectorXd
evaluate
classisam_1_1Function.html
a94fb1d521aef2148d60e4700b3b0c7d3
() const =0
virtual std::vector< Node * > &
nodes
classisam_1_1Function.html
a4dc1dbce112820f07eabfa626426699f
()=0
virtual int
num_measurements
classisam_1_1Function.html
a50ee95a878002e5830e552b2c5aa1395
() const =0
virtual
~Function
classisam_1_1Function.html
a1429fa5dc64105916f761a22309a41d5
()
isam::GLC_Factor
classisam_1_1GLC__Factor.html
isam::Factor
Eigen::VectorXd
basic_error
classisam_1_1GLC__Factor.html
a4dcab09725edc759248c45b80c4ab6d6
(Selector s=LINPOINT) const
GLC_Factor
classisam_1_1GLC__Factor.html
ad6145fcd9fcf8652864a3a045c04a4f3
(std::vector< Node * > nodes, const Eigen::VectorXd &x, const Eigen::MatrixXd &G, GLC_Reparam *rp=NULL)
void
initialize
classisam_1_1GLC__Factor.html
a55c6ff5006606364c2c68bc73cd0c9e3
()
Jacobian
jacobian
classisam_1_1GLC__Factor.html
a8d97887ddd248a0d1ddc1dfd5be5b7e1
()
void
write
classisam_1_1GLC__Factor.html
adcf74d26a090d4c3ac0a48a761de61a6
(std::ostream &out) const
~GLC_Factor
classisam_1_1GLC__Factor.html
abd0582f367d9af90d5070006bd4b9ffe
()
const Eigen::MatrixXd
_G
classisam_1_1GLC__Factor.html
ab27070b80a9e47477fa197ffa0ced424
GLC_Reparam *
_rp
classisam_1_1GLC__Factor.html
aae00d5459de932c248f4e32cf3e0fb4d
const Eigen::VectorXd
_x
classisam_1_1GLC__Factor.html
a54115aea420233fa4c4d5444fef0366a
isam::GLC_Reparam
classisam_1_1GLC__Reparam.html
virtual GLC_Reparam *
clone
classisam_1_1GLC__Reparam.html
a379bf8bc23fb7ed84b31b9eec1cb013a
()=0
virtual Eigen::VectorXb
is_angle
classisam_1_1GLC__Reparam.html
a00147cc24a66083c776109bcee42e786
()=0
virtual Eigen::MatrixXd
jacobian
classisam_1_1GLC__Reparam.html
a744ab3eb397a1f3b569697e7ffb3dbd8
()=0
virtual Eigen::VectorXd
reparameterize
classisam_1_1GLC__Reparam.html
a20ec6af7cec414f11c34a1d235ef0c7b
(Selector s)=0
virtual void
set_nodes
classisam_1_1GLC__Reparam.html
a2b95c78a9fc0011cc7e1f04bf9f02db0
(std::vector< Node * > nodes)=0
isam::GLC_RootShift
classisam_1_1GLC__RootShift.html
isam::GLC_Reparam
GLC_RootShift *
clone
classisam_1_1GLC__RootShift.html
a4c0d34c166e6525d89d04ad5e0763ae3
()
Eigen::VectorXb
is_angle
classisam_1_1GLC__RootShift.html
a09c412e8e778c86c99f145def2dc3fae
()
Eigen::MatrixXd
jacobian
classisam_1_1GLC__RootShift.html
a07d3d118b4d05a0079d94b70142a2a28
()
Eigen::VectorXd
reparameterize
classisam_1_1GLC__RootShift.html
a7eaa5bd89f21dcf67f0c31cc614dff90
(Selector s)
Eigen::VectorXd
root_shift
classisam_1_1GLC__RootShift.html
aff7bec0185d0a94f972070db14d3d07c
(Node *node_i, Node *node_j, Selector s)
void
set_nodes
classisam_1_1GLC__RootShift.html
a3f42351785637c368163ebddc3101a97
(std::vector< Node * > nodes)
int
_dim
classisam_1_1GLC__RootShift.html
a4c74c5c2f3e584a7c10beb24b001cffb
Eigen::VectorXb
_is_angle
classisam_1_1GLC__RootShift.html
ace966e3296f6490e7f83a6551edda2ce
std::vector< Node * >
_nodes
classisam_1_1GLC__RootShift.html
a6a83fb5d45616856ab210138c3e1d9b6
isam::Graph
classisam_1_1Graph.html
virtual void
add_factor
classisam_1_1Graph.html
a23edc7eafccc8d03696853154fa6b5d2
(Factor *factor)
virtual void
add_node
classisam_1_1Graph.html
aa5fe865c8a7545cc8804a8fc9f9a9a53
(Node *node)
void
erase_marked
classisam_1_1Graph.html
a854389a06a2fef38201117e73b2741b8
(int &variables_deleted, int &measurements_deleted)
const std::list< Factor * > &
get_factors
classisam_1_1Graph.html
a4a789214bbff006378cd8e59bdd70d36
() const
const std::list< Node * > &
get_nodes
classisam_1_1Graph.html
aa8dd75536b0070b46d7edab28d97746e
() const
Graph
classisam_1_1Graph.html
a9f43c4f7c1c4ec51b8268fddf16cc094
()
int
num_factors
classisam_1_1Graph.html
ae3d3432cc9b3e83b41683943f04441bf
() const
int
num_nodes
classisam_1_1Graph.html
ab0a51dd89e4fc4138b6fe9caa91c2914
() const
virtual void
print_graph
classisam_1_1Graph.html
abbd5b2e2d081f50d4d18c58388936f7f
() const
virtual void
remove_factor
classisam_1_1Graph.html
a123dd3b3e1d5d060ded11ebe5b3d358a
(Factor *factor)
virtual void
remove_node
classisam_1_1Graph.html
a60b4fdd6673d4f46a294da96683fa795
(Node *node)
virtual void
write
classisam_1_1Graph.html
ab0185cfcc85ce87a74fcc3b59c871571
(std::ostream &out) const
virtual
~Graph
classisam_1_1Graph.html
a9d56a73ab74b5d5e8eeecab6ebc7797a
()
std::list< Factor * >
_factors
classisam_1_1Graph.html
a3d9552a06ee2a910e334a6580f08fa09
std::list< Node * >
_nodes
classisam_1_1Graph.html
afa11e9ebac0d6f87ccef19a5492da811
Graph
classisam_1_1Graph.html
a79c41bdf404679be50c079891b9acf0b
(const Graph &rhs)
const Graph &
operator=
classisam_1_1Graph.html
a171ad743220451cbe290643f48412f91
(const Graph &rhs)
isam::Information
classisam_1_1Information.html
isam::Noise
Information
classisam_1_1Information.html
a522fd0fe62cf2b246eac0c803d52c350
(const Eigen::MatrixXd &inf)
isam::Jacobian
classisam_1_1Jacobian.html
void
add_term
classisam_1_1Jacobian.html
a023a0914f43691dc2ffce27736b9a2bf
(Node *node, const Eigen::MatrixXd &term)
void
add_term
classisam_1_1Jacobian.html
a3421dacde38577ad9b496f5edbd939b5
(Node *node, const double *term, int r, int c)
int
dimtotal
classisam_1_1Jacobian.html
a85fdb7f0d082912ca9a57b79ff3d77d1
() const
Jacobian
classisam_1_1Jacobian.html
a0eae71ae972d4f31b3799590c3eea341
()
Jacobian
classisam_1_1Jacobian.html
aee139e97ba2c7774b27d4bcd11a66552
(Eigen::VectorXd &residual)
Jacobian
classisam_1_1Jacobian.html
a655403857cddb7bc018b571444cb4853
(const double *residual, int size)
Eigen::VectorXd
rhs
classisam_1_1Jacobian.html
a9449ec3373b8a797ff9ed475158f222b
() const
const Terms &
terms
classisam_1_1Jacobian.html
a8d596ec6f79d729ee1b69379c246eb65
() const
void
write
classisam_1_1Jacobian.html
afba9a57118e958d47600970ad72cdf6b
(std::ostream &out) const
int
_dimtotal
classisam_1_1Jacobian.html
ac6d547420c312d29efa793c6b24d2547
Eigen::VectorXd
_residual
classisam_1_1Jacobian.html
a51375384a7446be255c57f8bf91d7d34
Terms
_terms
classisam_1_1Jacobian.html
ae69b6574cedeb5bc50f6b60aaa155d17
friend std::ostream &
operator<<
classisam_1_1Jacobian.html
a89cf1a508bead307ca1422e610d9f91a
(std::ostream &output, const Jacobian &t)
isam::MI
classisam_1_1MI.html
MI
classisam_1_1MI.html
a2e98041ca8dd2bf6adbfe5acb3fd4946
(int id1_, int id2_, double mi_)
int
id1
classisam_1_1MI.html
a6ff6bf0bd7ac6002be08091285130eff
int
id2
classisam_1_1MI.html
a403a8d2f4595813215c1e882e7f43537
double
mi
classisam_1_1MI.html
adffe9d20137c7ff6bbe3f873a8876f0b
isam::Monocular_Factor
classisam_1_1Monocular__Factor.html
FactorT< MonocularMeasurement >
Eigen::VectorXd
basic_error
classisam_1_1Monocular__Factor.html
aa40b06331ffed993d0aa5a3a55120ee5
(Selector s=ESTIMATE) const
void
initialize
classisam_1_1Monocular__Factor.html
ac90b31d1b84e9a30d7359a38ab47b774
()
Monocular_Factor
classisam_1_1Monocular__Factor.html
a44e3db69c3fe5b4238857408671a43e8
(Pose3d_Node *pose, Point3dh_Node *point, MonocularCamera *camera, const MonocularMeasurement &measure, const isam::Noise &noise)
Monocular_Factor
classisam_1_1Monocular__Factor.html
a9531f7c197b7c7d54bd470f1f8f75bfc
(Pose3d_Node *pose, Point3d_Node *point, MonocularCamera *camera, const MonocularMeasurement &measure, const isam::Noise &noise)
MonocularCamera *
_camera
classisam_1_1Monocular__Factor.html
a9cb5d4b5d96729e4f125e8b42ffd88d2
Point3d_Node *
_point
classisam_1_1Monocular__Factor.html
afb89c2d669db5b02475e8ff795712040
Point3dh_Node *
_point_h
classisam_1_1Monocular__Factor.html
a8f21d1ee0271dc00333088ac67369e4b
Pose3d_Node *
_pose
classisam_1_1Monocular__Factor.html
a709bf03080436c63e974f3bf593e621a
isam::MonocularCamera
classisam_1_1MonocularCamera.html
Point3dh
backproject
classisam_1_1MonocularCamera.html
a7685ca53fe324f9b3f0004e7965f47ff
(const Pose3d &pose, const MonocularMeasurement &measure, double distance=5.) const
double
focalLength
classisam_1_1MonocularCamera.html
af10073e649fc1765f5eabb20ecf92984
() const
MonocularCamera
classisam_1_1MonocularCamera.html
a69e19ce1419249b8981ced1a66b069df
()
MonocularCamera
classisam_1_1MonocularCamera.html
a5798c254696872e37330297b89eac163
(double f, const Eigen::Vector2d &pp)
Eigen::Vector2d
principalPoint
classisam_1_1MonocularCamera.html
a2270638ff168612c20aea96726f046d4
() const
MonocularMeasurement
project
classisam_1_1MonocularCamera.html
abc21e4639fb5fba670abb18c771bc9f4
(const Pose3d &pose, const Point3dh &Xw) const
double
_b
classisam_1_1MonocularCamera.html
acc828668ee72a9009606ecc7ed4113b9
double
_f
classisam_1_1MonocularCamera.html
ae97c0cf40bd047a64736f83b9cb88e66
Eigen::Vector2d
_pp
classisam_1_1MonocularCamera.html
ae20d1a72dd8a15ae5e4afe59bfb938d1
isam::MonocularMeasurement
classisam_1_1MonocularMeasurement.html
MonocularMeasurement
classisam_1_1MonocularMeasurement.html
a6217abf183506baf7be6148ca8a6218a
(double u, double v)
MonocularMeasurement
classisam_1_1MonocularMeasurement.html
abedd35e61e8a460eceb71cb28c7fb356
(double u, double v, bool valid)
Eigen::Vector3d
vector
classisam_1_1MonocularMeasurement.html
a0971141af1f6c41676a227a132c4318e
() const
void
write
classisam_1_1MonocularMeasurement.html
aa67d4818c1f9227ecd2872ef967a4fb9
(std::ostream &out) const
double
u
classisam_1_1MonocularMeasurement.html
a2ec015dff1f09570b3bdeb6ba0cb74a7
double
v
classisam_1_1MonocularMeasurement.html
a876be273b1e9fdc6eae070e955c58a1b
bool
valid
classisam_1_1MonocularMeasurement.html
a3b6275bd94979302c4a4c691ca447701
friend std::ostream &
operator<<
classisam_1_1MonocularMeasurement.html
a47f9d713f383f5dcade7ad385c9ce392
(std::ostream &out, const MonocularMeasurement &t)
isam::Node
classisam_1_1Node.html
isam::Element
void
add_factor
classisam_1_1Node.html
a8ffa6c836bafd7f887f7153c9caf4777
(Factor *e)
virtual void
apply_exmap
classisam_1_1Node.html
a62c98d3fb7470e9bee1185f24659c163
(const Eigen::VectorXd &v)=0
bool
deleted
classisam_1_1Node.html
ae78c1e8fcabc68151ea4898b57d6030a
() const
void
erase_marked_factors
classisam_1_1Node.html
a0016b20f051ccc353bea88b3a6517d58
()
virtual void
estimate_to_linpoint
classisam_1_1Node.html
afe393808e7d24dcc95ca026640acd6af
()=0
const std::list< Factor * > &
factors
classisam_1_1Node.html
ad3832df8fd05ad0a73f1e493425197a7
()
virtual bool
initialized
classisam_1_1Node.html
a9157f5daa79aca8d02ea67c9152a8785
() const =0
virtual Eigen::VectorXb
is_angle
classisam_1_1Node.html
a7c59ff7802a7438780b7e57eca97d88f
() const
virtual void
linpoint_to_estimate
classisam_1_1Node.html
a616c71084dc54b4337b5d8f060760eb4
()=0
void
mark_deleted
classisam_1_1Node.html
a1b03a2aa049b273496eb9c54e49be198
()
Node
classisam_1_1Node.html
a137348b802c75f5e253bf037462b7307
(const char *name, int dim)
void
remove_factor
classisam_1_1Node.html
accb744e48d49ef9fcc174d00ed071963
(Factor *e)
virtual void
self_exmap
classisam_1_1Node.html
af9c079423cc652bbeb135396fc1580e0
(const Eigen::VectorXd &v)=0
virtual void
swap_estimates
classisam_1_1Node.html
af9d40bc3338acb4be18e1e5d71093d2a
()=0
virtual void
update
classisam_1_1Node.html
af1941e744dc4807bb1009ce4059a5ae3
(const Eigen::VectorXd &v)=0
virtual void
update0
classisam_1_1Node.html
ac46f134ea760c1d967ee6b5368c91dc5
(const Eigen::VectorXd &v)=0
virtual Eigen::VectorXd
vector
classisam_1_1Node.html
ac245455bfb06e441c1cb91454c75970c
(Selector s=ESTIMATE) const =0
virtual Eigen::VectorXd
vector0
classisam_1_1Node.html
a8133d9aac380a9216d378ed875cd4f73
() const =0
virtual void
write
classisam_1_1Node.html
a5a99df7cd77bbc24f7cfb4d9b27c1a56
(std::ostream &out) const =0
virtual
~Node
classisam_1_1Node.html
a5e941eee0c8f4f37e0fe5fcd6a57fde5
()
std::list< Factor * >
_factors
classisam_1_1Node.html
a9bc262f62e4363c92e1e8a201fb9774a
bool
_deleted
classisam_1_1Node.html
aa564190315f6b62c1aa9fcdebe680f9d
static int
_next_id
classisam_1_1Node.html
a42e1d508bfab25b22e081d509ce3d97b
friend std::ostream &
operator<<
classisam_1_1Node.html
a84082a2272cce869294a631359293f6a
(std::ostream &output, const Node &n)
isam::NodeT
classisam_1_1NodeT.html
isam::Node
void
apply_exmap
classisam_1_1NodeT.html
af6cfaad4bf2a9df360c4ce6a41c7d5b6
(const Eigen::VectorXd &v)
void
estimate_to_linpoint
classisam_1_1NodeT.html
aa6b2ba1d37e6d9fc8b995aa586fe1aec
()
void
init
classisam_1_1NodeT.html
af71069ecd5ea2e879c63e407418ed4de
(const T &t)
bool
initialized
classisam_1_1NodeT.html
a7505592ed8479600409494f10ed3af2c
() const
Eigen::VectorXb
is_angle
classisam_1_1NodeT.html
a7f1194c2f165a0735909dc842a908368
() const
void
linpoint_to_estimate
classisam_1_1NodeT.html
a91271ecb7334ca47297a860077ae9378
()
NodeT
classisam_1_1NodeT.html
a7c4c041583bb4e52ca14017dbf98c5e7
()
NodeT
classisam_1_1NodeT.html
acc1b66ddc812df9741b9c72a4cdb1e7f
(const char *name)
void
self_exmap
classisam_1_1NodeT.html
ae2ed970ac2f302738cbf86262989c6aa
(const Eigen::VectorXd &v)
void
swap_estimates
classisam_1_1NodeT.html
af4025b778a8d331d5c6b751aebe5e173
()
void
update
classisam_1_1NodeT.html
a7db2e1a57044a784e6f17a79ab96bebb
(const Eigen::VectorXd &v)
void
update0
classisam_1_1NodeT.html
a699d14096d34d78dc7c1970cbfb7fb04
(const Eigen::VectorXd &v)
T
value
classisam_1_1NodeT.html
a1e6e59f164ff7b94ea46f48d33588ba7
(Selector s=ESTIMATE) const
T
value0
classisam_1_1NodeT.html
a4eaaa7618c85525ab93250690ca63c47
() const
Eigen::VectorXd
vector
classisam_1_1NodeT.html
abfaa07067e7c86d030815dfcf28c76b9
(Selector s=ESTIMATE) const
Eigen::VectorXd
vector0
classisam_1_1NodeT.html
a94fabccdbab8debc17c83919e2c86845
() const
void
write
classisam_1_1NodeT.html
aa34bfb2785b18c506d8abf774e464833
(std::ostream &out) const
virtual
~NodeT
classisam_1_1NodeT.html
a102f749f6eafe8577e47d51c3c5676e6
()
T *
_value
classisam_1_1NodeT.html
ac76a35746e629c4cb3446a910e5c926d
T *
_value0
classisam_1_1NodeT.html
a46668295c72e2a402a4030bb43064ce0
isam::Noise
classisam_1_1Noise.html
const Eigen::MatrixXd &
sqrtinf
classisam_1_1Noise.html
a423918dacc010ffcc7325413bd93a239
() const
Eigen::MatrixXd
_sqrtinf
classisam_1_1Noise.html
a358aba7255bd687dd1600131df4a5f6f
isam::OptimizationInterface
classisam_1_1OptimizationInterface.html
virtual void
apply_exmap
classisam_1_1OptimizationInterface.html
a4d72b82378bac13d2abbb6589c896354
(const Eigen::VectorXd &delta)=0
virtual void
estimate_to_linpoint
classisam_1_1OptimizationInterface.html
a38429e38caa98d8d44ee2719d5b3b6a6
()=0
virtual SparseSystem
jacobian
classisam_1_1OptimizationInterface.html
a8ae5aa4e29adfa7e9e4c45666d0d15c1
()=0
virtual void
linpoint_to_estimate
classisam_1_1OptimizationInterface.html
afff028f5f8949c5c5026e4625dbf59c6
()=0
OptimizationInterface
classisam_1_1OptimizationInterface.html
ad247e25130bb95c01a0b4ef095f54918
()
virtual void
self_exmap
classisam_1_1OptimizationInterface.html
afe33949f1b3fa6aff345ea1411efd3ec
(const Eigen::VectorXd &delta)=0
virtual void
swap_estimates
classisam_1_1OptimizationInterface.html
a555d395be89e6db0b50c0b86c861d614
()=0
virtual Eigen::VectorXd
weighted_errors
classisam_1_1OptimizationInterface.html
a2c31d1e0281b662736779065a4087e4b
(Selector s=ESTIMATE)=0
virtual
~OptimizationInterface
classisam_1_1OptimizationInterface.html
ae2a3193be9b21bbfd51f8db187bda11e
()
SparseSystem
_R
classisam_1_1OptimizationInterface.html
abfcee6da520181491e0d4991ee5d7967
friend class
Optimizer
classisam_1_1OptimizationInterface.html
a8da03811ef0d7255511857cfa56494cf
isam::Optimizer
classisam_1_1Optimizer.html
void
augment_sparse_linear_system
classisam_1_1Optimizer.html
ad4f1b46632ef2ae974d349bf01a0093f
(SparseSystem &W, const Properties &prop)
void
batch_optimize
classisam_1_1Optimizer.html
aefe72ca9a415224b8c6e37b0c12053de
(const Properties &prop, int *num_iterations)
Optimizer
classisam_1_1Optimizer.html
a294d5e994f21cda173479b0a4e814d75
(OptimizationInterface &fs)
void
relinearize
classisam_1_1Optimizer.html
a54b2049a49c5772b6607bed443bd8c28
(const Properties &prop)
void
update_estimate
classisam_1_1Optimizer.html
a499392a51397e819a4d4f76f71a32b00
(const Properties &prop)
~Optimizer
classisam_1_1Optimizer.html
a049e9838cac418ede37ea60681318def
()
Eigen::VectorXd
compute_dog_leg
classisam_1_1Optimizer.html
a243f62c5489433c216f655f2c37e6965
(double alpha, const Eigen::VectorXd &h_sd, const Eigen::VectorXd &h_gn, double delta, double &gain_ratio_denominator)
Eigen::VectorXd
compute_gauss_newton_step
classisam_1_1Optimizer.html
a32e70a0b8f4f9f1b03d34672d56c9979
(const SparseSystem &jacobian, SparseSystem *R=NULL, double lambda=0.)
void
gauss_newton
classisam_1_1Optimizer.html
a245b506dd85d368eb120a641cb1f4966
(const Properties &prop, int *num_iterations=NULL)
void
levenberg_marquardt
classisam_1_1Optimizer.html
a1b0662d50d085697f1e8efa50f63445d
(const Properties &prop, int *num_iterations=NULL)
void
permute_vector
classisam_1_1Optimizer.html
ad05dff24cc74564abccbe1c0106af172
(const Eigen::VectorXd &v, Eigen::VectorXd &p, const int *permutation)
void
powells_dog_leg
classisam_1_1Optimizer.html
ac22adde55f9eac2aafe72f9e8e7a0518
(int *num_iterations=NULL, double delta0=1.0, int max_iterations=0, double epsilon1=1e-4, double epsilon2=1e-4, double epsilon3=1e-4)
bool
powells_dog_leg_update
classisam_1_1Optimizer.html
a4bca8a09f837c4ac402f9ff6ab6c6edc
(double epsilon1, double epsilon3, SparseSystem &jacobian, Eigen::VectorXd &f_x, Eigen::VectorXd &gradient)
void
update_trust_radius
classisam_1_1Optimizer.html
a6615ab6f5431fdd41c2646685ceef683
(double rho, double hdl_norm)
Cholesky *
_cholesky
classisam_1_1Optimizer.html
abaf4d9cef0da958de29b32e6b5a6bbee
double
current_SSE_at_linpoint
classisam_1_1Optimizer.html
ab4fa255bc5c7d847070f1d1d8229402d
double
Delta
classisam_1_1Optimizer.html
af75fb4ca4e4113e84104da63d57e0771
OptimizationInterface &
function_system
classisam_1_1Optimizer.html
af67afa4308c37170a2b837bce52b498e
Eigen::VectorXd
gradient
classisam_1_1Optimizer.html
a3b6258a341c0b0dd72fb34c647f32952
Eigen::VectorXd
last_accepted_hdl
classisam_1_1Optimizer.html
a91d878ac8d3b73d90b56be0a1447884c
isam::OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
isam::SparseMatrix
virtual const int *
a_to_r
classisam_1_1OrderedSparseMatrix.html
adbdeda6eccf0f8e2702d9da168915414
() const
void
append_new_cols
classisam_1_1OrderedSparseMatrix.html
ad2fc288249f51788dfa27504d49542d8
(int num)
void
import_rows_ordered
classisam_1_1OrderedSparseMatrix.html
a1ba1bbca58ff4f5e5c135a8067e3a585
(int num_rows, int num_cols, SparseVector_p *rows, int *r_to_a)
const OrderedSparseMatrix &
operator=
classisam_1_1OrderedSparseMatrix.html
acd67b8de77706585b7c9814c93909ebc
(const OrderedSparseMatrix &mat)
OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
ab71621703b4dc44f2df4dda8a99f3cf3
(int num_rows, int num_cols)
OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
ad81fee4f7bcf4e87546e9566801fc359
(const OrderedSparseMatrix &mat)
OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
a81c430704f84bf2ba5cdf9199d13f73d
(const OrderedSparseMatrix &mat, int num_rows, int num_cols, int first_row=0, int first_col=0)
OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
a089ed020a032e0977b1bcdaa5cf080fc
(int num_rows, int num_cols, SparseVector_p *rows)
virtual const int *
r_to_a
classisam_1_1OrderedSparseMatrix.html
ab5b2b758206644399089ff8688ac291f
() const
void
set_row
classisam_1_1OrderedSparseMatrix.html
a34b6d8ebea64d90ddb1eea3721062d7c
(int row, const SparseVector &new_row)
virtual
~OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
a6697bf581609f975f7ee5788df8f12c0
()
void
_allocate_OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
a00dc6b24f6f295ed7d7e94a366d9c447
(bool init_order=true)
void
_calc_reverse_order
classisam_1_1OrderedSparseMatrix.html
a2785ee71da0e69227a770a8d721ddb98
(int num, const int *order, int *reverse_order) const
void
_copy_from_OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
a9ebaf6df3a39a884f5e6d3de087ca08b
(const OrderedSparseMatrix &mat)
void
_dealloc_OrderedSparseMatrix
classisam_1_1OrderedSparseMatrix.html
add427450e56243bc1e6d244093c45d35
()
void
_set_order
classisam_1_1OrderedSparseMatrix.html
aa6caa361b9945ea396409006171b4d25
(const int *r_to_a)
int *
_a_to_r
classisam_1_1OrderedSparseMatrix.html
afb1480d262310a9c856d85f11c6785d7
int *
_r_to_a
classisam_1_1OrderedSparseMatrix.html
a97a4b9e7f2e9c4c28fdb97860505da8c
isam::Point2d
classisam_1_1Point2d.html
Point2d
exmap
classisam_1_1Point2d.html
a1918e48dd6bfc8f35613ce7a13d19707
(const Eigen::Vector2d &delta) const
Eigen::VectorXb
is_angle
classisam_1_1Point2d.html
aef63365a44934f2bfcbf33cd80da9c53
() const
Point2d
classisam_1_1Point2d.html
abacba732ae12cf64e18d9ec1941271d4
()
Point2d
classisam_1_1Point2d.html
a7fb07eaac50eeb941f8d38ef874ee84a
(double x, double y)
Point2d
classisam_1_1Point2d.html
ab4ae77c8e790d2dbed837ef1381c1f2c
(const Eigen::Vector2d &vec)
void
set
classisam_1_1Point2d.html
af2ef69d667fc3a1ef57ba3790bb8a97a
(double x, double y)
void
set
classisam_1_1Point2d.html
a0f17997fb8fa398be3331b84d044aecc
(const Eigen::Vector2d &v)
void
set_x
classisam_1_1Point2d.html
a6f722145312c00a64a40c48fc432f37c
(double x)
void
set_y
classisam_1_1Point2d.html
a5e12ab10586928dd117614bcaefd03fe
(double y)
Eigen::Vector2d
vector
classisam_1_1Point2d.html
ab0e191705e8f4fa4034c13bb79ce25a4
() const
void
write
classisam_1_1Point2d.html
a93f54c3396cb5d016653cf782b242101
(std::ostream &out) const
double
x
classisam_1_1Point2d.html
a48bb887f6d08e250c090413391578eca
() const
double
y
classisam_1_1Point2d.html
adde1bd37ac1d7aa88c7cb1ad83e1d936
() const
static const char *
name
classisam_1_1Point2d.html
ab3aee6bcbdc37f2b18160d64d8f85631
()
static const int
dim
classisam_1_1Point2d.html
af9dd85c42bf36de3d2b02de65646a708
static const int
size
classisam_1_1Point2d.html
a4f88c72d003f4a338843e3dcdefd4a65
double
_x
classisam_1_1Point2d.html
ab93289342a717ef81b648d4fbcd94863
double
_y
classisam_1_1Point2d.html
af4afbd814681a296297235198c847d26
friend std::ostream &
operator<<
classisam_1_1Point2d.html
af0b9b9f57658b6738e4f1d3dc733f750
(std::ostream &out, const Point2d &p)
isam::Point2d_Factor
classisam_1_1Point2d__Factor.html
FactorT< Point2d >
Eigen::VectorXd
basic_error
classisam_1_1Point2d__Factor.html
a540c539ba7209d7127637f2420dcadd6
(Selector s=LINPOINT) const
void
initialize
classisam_1_1Point2d__Factor.html
ae6b657d1359f89c06bc4d6155a3888ff
()
Point2d_Factor
classisam_1_1Point2d__Factor.html
a190e5789d7e3948e0b4ef3b31e40e8f1
(Point2d_Node *point, const Point2d &prior, const Noise &noise)
Point2d_Node *
_point
classisam_1_1Point2d__Factor.html
a13cb8145ff956fc9d1666f8b0b0b435a
isam::Point3d
classisam_1_1Point3d.html
Point3d
exmap
classisam_1_1Point3d.html
a6e2dfa785a4e1fe2e9b484dbc3417ade
(const Eigen::Vector3d &delta) const
Eigen::VectorXb
is_angle
classisam_1_1Point3d.html
a567e71128634b52161b576cbf9fa1334
() const
void
of_point2d
classisam_1_1Point3d.html
a594f2e617ddab1521b8e757c220dd900
(const Point2d &p)
Point3d
classisam_1_1Point3d.html
ab7089949cf02949c7e097bf820bb9e6a
()
Point3d
classisam_1_1Point3d.html
a4f0e57c68a40fec45b9f8e00fcffee90
(double x, double y, double z)
Point3d
classisam_1_1Point3d.html
a3f71e7c3a6d04d10a3bc42fffd19e44a
(const Eigen::Vector3d &vec)
void
set
classisam_1_1Point3d.html
a0e1b643a8eb60379b956e18161c691d8
(double x, double y, double z)
void
set
classisam_1_1Point3d.html
ad48728a8251a36e2f6559916505a3354
(const Eigen::Vector3d &v)
void
set_x
classisam_1_1Point3d.html
a7556c1b5bcb5973452e613813342f434
(double x)
void
set_y
classisam_1_1Point3d.html
ac1526027252e90dd1fa3ec160cdd10b7
(double y)
void
set_z
classisam_1_1Point3d.html
ae17d637782dbf84bb4e5e57f03bf9416
(double z)
Point3d
to_point3d
classisam_1_1Point3d.html
a51f6c64d5c323dd2baa1ef79a996dc4d
()
Eigen::Vector3d
vector
classisam_1_1Point3d.html
a625f58c973f16076f7b479fa9d01213c
() const
void
write
classisam_1_1Point3d.html
a925a5c2cc869f1eddaf1ab7e8192b7c4
(std::ostream &out) const
double
x
classisam_1_1Point3d.html
ad8c30a0c3a0bdf598f844f44bf11f3c9
() const
double
y
classisam_1_1Point3d.html
abf5366221edb3262c10817cc6af045eb
() const
double
z
classisam_1_1Point3d.html
a2bbb03d9e76c17659b1c0939f73517dd
() const
static const char *
name
classisam_1_1Point3d.html
a1fbb042d41a1d0c23dbf5cdb1b16e1c6
()
static const int
dim
classisam_1_1Point3d.html
a1db02b76e9be2a25581077a6eb3cf2ca
static const int
size
classisam_1_1Point3d.html
a46d5276573346bfc3d04f03f995d4235
double
_x
classisam_1_1Point3d.html
a281d5c3354d004f9743caf1dbf2d7597
double
_y
classisam_1_1Point3d.html
a023260f23a65e1354e6766ef62b6190b
double
_z
classisam_1_1Point3d.html
aaf7b38f2db94cef018f0c50f1b792a71
friend std::ostream &
operator<<
classisam_1_1Point3d.html
a919ada34e242497e0071489bb92854cc
(std::ostream &out, const Point3d &p)
isam::Point3dh
classisam_1_1Point3dh.html
Point3dh
exmap
classisam_1_1Point3dh.html
ac49ac9a38c52beff64aae03d2bc0805d
(const Eigen::Vector3d &delta) const
Eigen::VectorXb
is_angle
classisam_1_1Point3dh.html
ab73374a1bc760224bea5277062d5689c
() const
double
norm
classisam_1_1Point3dh.html
a91505d5fcdd47d40b90c84257775d558
() const
Point3dh
normalize
classisam_1_1Point3dh.html
abc63f22510b068e3f275cf165444e096
()
Point3dh
classisam_1_1Point3dh.html
a4e89fad758b0d1de8b9c59162b30a7e2
()
Point3dh
classisam_1_1Point3dh.html
a843853d429ec4e3fd5644db0ac0429ff
(double x, double y, double z, double w)
Point3dh
classisam_1_1Point3dh.html
ae883f8211e0c809bc9243f02e9282382
(const Eigen::Vector4d &vec)
Point3dh
classisam_1_1Point3dh.html
a123910d66e167bf54c935f7b5c3e25c4
(const Point3d &p)
void
set
classisam_1_1Point3dh.html
aebdf1abe767fa45b124fb90a45704603
(double x, double y, double z, double w)
void
set
classisam_1_1Point3dh.html
afb314bca62ff573bcc88e757e76530d5
(const Eigen::Vector4d &v)
Point3d
to_point3d
classisam_1_1Point3dh.html
a94697d6be6b422350afed678b0b9b650
() const
Eigen::Vector4d
vector
classisam_1_1Point3dh.html
a2f27cf7ae7cad44bf1dd4603d2fd6e17
() const
double
w
classisam_1_1Point3dh.html
a81697e0732d58f7e48d56638d1763de4
() const
void
w
classisam_1_1Point3dh.html
a28eddcd129fe8cc8bacbd5b56e3930b0
(double w)
void
write
classisam_1_1Point3dh.html
ae050c86f95038f79bba356bdad6ed1e7
(std::ostream &out) const
double
x
classisam_1_1Point3dh.html
ae973057721bca8d847d69cd618547183
() const
void
x
classisam_1_1Point3dh.html
a8010d99f7596fc6f3563ede468d670f7
(double x)
double
y
classisam_1_1Point3dh.html
a828418108e432cc2851497d748e4638c
() const
void
y
classisam_1_1Point3dh.html
ae406cf7984dd0d8b27149afe1eecd4fd
(double y)
double
z
classisam_1_1Point3dh.html
a8a29f5a7d61f964562da54ba8f12fc31
() const
void
z
classisam_1_1Point3dh.html
a5124e56d221a57d6234fc65c194cb601
(double z)
static Eigen::Vector4d
delta3_to_homogeneous
classisam_1_1Point3dh.html
add6057305ffe1991ef940fcec3407067
(const Eigen::Vector3d &delta)
static const char *
name
classisam_1_1Point3dh.html
aa027ab7525dab08a463d10d12c0269f3
()
static const int
dim
classisam_1_1Point3dh.html
a540b3b34387f8a8294f8663aea389628
static const int
size
classisam_1_1Point3dh.html
a938ffc70c0bd6f98695ae3cba134ac56
double
_w
classisam_1_1Point3dh.html
a7777957e6353b8f3a1ed90bb081a49e6
double
_x
classisam_1_1Point3dh.html
af550447a5070648b81bc909ad660d8da
double
_y
classisam_1_1Point3dh.html
a2d4234e7a378a8a329fa2c0559e0e9db
double
_z
classisam_1_1Point3dh.html
a5db5ee63220d1d1dba8fff82e10e068b
friend std::ostream &
operator<<
classisam_1_1Point3dh.html
a3ee728f271eecf5317750b1052d58eb9
(std::ostream &out, const Point3dh &p)
isam::Point3dT_Node
classisam_1_1Point3dT__Node.html
isam::NodeT
Pose3d_Node *
base
classisam_1_1Point3dT__Node.html
aee30ad708bdae57924397f5c31a91256
()
Point3dT_Node
classisam_1_1Point3dT__Node.html
ae390a6f4b13101ec168ca86ba2b01057
()
Point3dT_Node
classisam_1_1Point3dT__Node.html
a723be3289a34b29a494a9c2248912c83
(const char *name)
void
set_base
classisam_1_1Point3dT__Node.html
a624593a0f20cc38e6da2f30ddcf4ad96
(Pose3d_Node *base)
~Point3dT_Node
classisam_1_1Point3dT__Node.html
aa6300648f8a6ae0509e125de691189b3
()
Pose3d_Node *
_base
classisam_1_1Point3dT__Node.html
ab3c1d21cebbc69cb1352db748ec2cab9
isam::Pose2d
classisam_1_1Pose2d.html
Pose2d
exmap
classisam_1_1Pose2d.html
a5161b1107e8e147c4b4ddae4bb7fc349
(const Eigen::Vector3d &delta) const
Eigen::VectorXb
is_angle
classisam_1_1Pose2d.html
a11866fa32605e35c5cfddbf3d9e31437
() const
Pose2d
ominus
classisam_1_1Pose2d.html
ab6946c36dc324bd122c462253c7928a1
(const Pose2d &b) const
Pose2d
oplus
classisam_1_1Pose2d.html
ae423c28588086edb766314bc6b4dcac8
(const Pose2d &d) const
Pose2d
classisam_1_1Pose2d.html
ae26ab68ec2ed94e5499d418968224bd1
()
Pose2d
classisam_1_1Pose2d.html
a4be6000b225f324240debe1b7171bf3d
(double x, double y, double t)
Pose2d
classisam_1_1Pose2d.html
a8c99a20541e7abe1c3327421e9969a72
(const Eigen::Vector3d &vec)
void
set
classisam_1_1Pose2d.html
a1ac5b4f3cee1a0aa1f2a385fab1d92d2
(double x, double y, double t)
void
set
classisam_1_1Pose2d.html
a5d7af57e610a2602c5dcab638ad953af
(const Eigen::Vector3d &v)
void
set_t
classisam_1_1Pose2d.html
a96bc7b7450da5b5809c337799b7c57fc
(double t)
void
set_x
classisam_1_1Pose2d.html
a69dbc2a243850c7ebf7e2cdb5365c242
(double x)
void
set_y
classisam_1_1Pose2d.html
adb61e6a5891f35bb8de9a5c9a12a3288
(double y)
double
t
classisam_1_1Pose2d.html
af701c7937a67a9102879081c9b6eeb9e
() const
Point2d
transform_from
classisam_1_1Pose2d.html
a5a849cb77238dcfb0cc1c68d0bb7a2df
(const Point2d &p) const
Point2d
transform_to
classisam_1_1Pose2d.html
a4184cf3cc597186c8080b4ee9c8ff7cf
(const Point2d &p) const
Eigen::Vector3d
vector
classisam_1_1Pose2d.html
a0a79fef068b060f003a5762107307deb
() const
void
write
classisam_1_1Pose2d.html
ac79deaba18895a97e7ef04b2c2868661
(std::ostream &out) const
double
x
classisam_1_1Pose2d.html
ae148474191081c556347841f68a54131
() const
double
y
classisam_1_1Pose2d.html
a1a40d136836806283c5267b4acdad6d5
() const
static const char *
name
classisam_1_1Pose2d.html
af5fb174cf819bddae2d7e0217a3fcc37
()
static const int
dim
classisam_1_1Pose2d.html
a8a0938f34c5507b7149e4fe8458410e2
static const int
size
classisam_1_1Pose2d.html
a76c300c08d14857a3522aaa4a943ee82
double
_t
classisam_1_1Pose2d.html
a83105a9425c25e19ac0e7ea6dde68d37
double
_x
classisam_1_1Pose2d.html
a5682a25fc76c9f4179c1005077d1f313
double
_y
classisam_1_1Pose2d.html
a105eaf1b50916e0de3f34bd2769a031f
friend std::ostream &
operator<<
classisam_1_1Pose2d.html
aa3177cad6f5793a5a979617489b4c54d
(std::ostream &out, const Pose2d &p)
isam::Pose2d_Factor
classisam_1_1Pose2d__Factor.html
FactorT< Pose2d >
Eigen::VectorXd
basic_error
classisam_1_1Pose2d__Factor.html
a8a97c820a7c297609a8147dfcd0217ae
(Selector s=LINPOINT) const
void
initialize
classisam_1_1Pose2d__Factor.html
aef1a7eac486af23377d0869b102b1956
()
Jacobian
jacobian
classisam_1_1Pose2d__Factor.html
a8e3bc4b5a386fdc88b3fe3148cb3a92c
()
Pose2d_Factor
classisam_1_1Pose2d__Factor.html
a5950e5f6f58c180ee515a2f82fb4fec9
(Pose2d_Node *pose, const Pose2d &prior, const Noise &noise)
Pose2d_Node *
_pose
classisam_1_1Pose2d__Factor.html
a358f1820960532f73896df334649533a
isam::Pose2d_Point2d_Factor
classisam_1_1Pose2d__Point2d__Factor.html
FactorT< Point2d >
Eigen::VectorXd
basic_error
classisam_1_1Pose2d__Point2d__Factor.html
a22152e750d5ccac1cdbe029f670417f9
(Selector s=LINPOINT) const
void
initialize
classisam_1_1Pose2d__Point2d__Factor.html
ac82d9ad94d582b4b6104d2db75aab5e4
()
Jacobian
jacobian
classisam_1_1Pose2d__Point2d__Factor.html
a7d9ab27268bff7fc9a64c46826b6cb2c
()
Pose2d_Point2d_Factor
classisam_1_1Pose2d__Point2d__Factor.html
a0cb463f846b3cfb2ff19dfec01895dfe
(Pose2d_Node *pose, Point2d_Node *point, const Point2d &measure, const Noise &noise)
Point2d_Node *
_point
classisam_1_1Pose2d__Point2d__Factor.html
a30d963c160c1b2957f8f00eaef1a3966
Pose2d_Node *
_pose
classisam_1_1Pose2d__Point2d__Factor.html
a00ced9090b12a077529710febca342fc
isam::Pose2d_Pose2d_Factor
classisam_1_1Pose2d__Pose2d__Factor.html
FactorT< Pose2d >
Eigen::VectorXd
basic_error
classisam_1_1Pose2d__Pose2d__Factor.html
aade27995644e53f6aea1a82d7c610bdf
(Selector s=LINPOINT) const
void
initialize
classisam_1_1Pose2d__Pose2d__Factor.html
a8e2b5aee1752468c702ff792d2930ff3
()
Jacobian
jacobian
classisam_1_1Pose2d__Pose2d__Factor.html
a0d10fc1d3419fbe8b38b1b65c1711192
()
Pose2d_Pose2d_Factor
classisam_1_1Pose2d__Pose2d__Factor.html
ae69fcc6d76e378358b36349e6dbc0eba
(Pose2d_Node *pose1, Pose2d_Node *pose2, const Pose2d &measure, const Noise &noise, Anchor2d_Node *anchor1=NULL, Anchor2d_Node *anchor2=NULL)
Pose2d_Node *
_pose1
classisam_1_1Pose2d__Pose2d__Factor.html
ac13aa4b1cd9ae64e0c1deec6f3336dd7
Pose2d_Node *
_pose2
classisam_1_1Pose2d__Pose2d__Factor.html
a21a2f8e43a9b2e1905fb0eab2af9515a
isam::Pose3d
classisam_1_1Pose3d.html
Pose3d
exmap
classisam_1_1Pose3d.html
a660f800abad5a56acff0c9673a4d6db9
(const Vector6d &delta) const
Eigen::VectorXb
is_angle
classisam_1_1Pose3d.html
acf2da737c1e7100577741c02c9d60f5e
() const
void
of_point2d
classisam_1_1Pose3d.html
aa7b110f12371b8772a41ab6a235d27e9
(const Point2d &p)
void
of_point3d
classisam_1_1Pose3d.html
a4fc8f96437bf42d4704bbc69465baec5
(const Point3d &p)
void
of_pose2d
classisam_1_1Pose3d.html
a44549ee9d77889ab808cd040461e4744
(const Pose2d &p)
Pose3d
ominus
classisam_1_1Pose3d.html
aeb81d5033b3504085275646b6738b943
(const Pose3d &b) const
Pose3d
oplus
classisam_1_1Pose3d.html
a9103076524304946953262b74ef921b9
(const Pose3d &d) const
Eigen::Matrix4d
oTw
classisam_1_1Pose3d.html
ae650d566f4e00489b987ee012b4849f6
() const
double
pitch
classisam_1_1Pose3d.html
acbef7812324357460522eb4c2fa3ce43
() const
Pose3d
classisam_1_1Pose3d.html
a483916e2b213636d26bc0507275403cd
()
Pose3d
classisam_1_1Pose3d.html
a793f729d30eafab2c2ec0cc0d52414c7
(double x, double y, double z, double yaw, double pitch, double roll)
Pose3d
classisam_1_1Pose3d.html
a0b393fa6cb1e692af464666bcd01d1b5
(const Eigen::MatrixXd &m)
Pose3d
classisam_1_1Pose3d.html
a1a7b92875c68cb8c7c53979942d9b098
(const Eigen::Isometry3d &T)
Pose3d
classisam_1_1Pose3d.html
a2d42bfd570911f0be77caea86014a73f
(const Point3d &t, const Rot3d &rot)
double
roll
classisam_1_1Pose3d.html
a35ed23fc335306852e24e97124bdd9ae
() const
Rot3d
rot
classisam_1_1Pose3d.html
a0ee425690cb890108a55f7b68b3efcf1
() const
void
set
classisam_1_1Pose3d.html
a38c75251d927648b845599193854c4cc
(double x, double y, double z, double yaw, double pitch, double roll)
void
set
classisam_1_1Pose3d.html
afd35b93281e15058a0ea8a65e545b428
(const Vector6d &v)
void
set_pitch
classisam_1_1Pose3d.html
a89f5e1d6b50291de417f3c1a28f3da4a
(double pitch)
void
set_roll
classisam_1_1Pose3d.html
a246e5301c71561c19aeca1ceac9ad567
(double roll)
void
set_x
classisam_1_1Pose3d.html
ac1b570cb991d0b2775df0f596b0d9b53
(double x)
void
set_y
classisam_1_1Pose3d.html
a0d713db5c2f0eff08c06b3f10320391d
(double y)
void
set_yaw
classisam_1_1Pose3d.html
a61cc5856da75f1b06024c8d591a06d35
(double yaw)
void
set_z
classisam_1_1Pose3d.html
a66349b71a8d57cebdf32b3a28c7cb1b9
(double z)
Point3d
trans
classisam_1_1Pose3d.html
abb5a05d568aa20646127d8adfbbbdb4a
() const
Point3dh
transform_from
classisam_1_1Pose3d.html
a1e2921d962e47f056f02889d8d5fddd1
(const Point3dh &p) const
Point3d
transform_from
classisam_1_1Pose3d.html
adf3d87c2dd160fac61a46ceb1dac1b85
(const Point3d &p) const
Point3dh
transform_to
classisam_1_1Pose3d.html
a2b9f7402533e0182038560d3fc8e15b4
(const Point3dh &p) const
Point3d
transform_to
classisam_1_1Pose3d.html
adce432174d89ddae4556c38e7f304ed4
(const Point3d &p) const
Vector6d
vector
classisam_1_1Pose3d.html
ab62e1032cbfd4025a9692d510da8bc84
() const
void
write
classisam_1_1Pose3d.html
adf1a76f2c31593c084a1c4dd3f93922f
(std::ostream &out) const
Eigen::Matrix4d
wTo
classisam_1_1Pose3d.html
a0a0341698dbf5d518b782be0b7d1399e
() const
double
x
classisam_1_1Pose3d.html
a234ed601a8253b07cefac004550319ac
() const
double
y
classisam_1_1Pose3d.html
a49a383a9f03a60f1fb9e9cadfe4e4f4f
() const
double
yaw
classisam_1_1Pose3d.html
a074d2b51a9a7a54cc071a5f798452e7b
() const
double
z
classisam_1_1Pose3d.html
a98781283d7b262c91787b32085c6d2c7
() const
static const char *
name
classisam_1_1Pose3d.html
ade4b60f481d32176da28057ab4976f06
()
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const int
dim
classisam_1_1Pose3d.html
aa5f01a769ee0944c68e4bffbe27bb6d0
Rot3d
_rot
classisam_1_1Pose3d.html
ae27f8ab52af6f5430cfcf0ba581f43a2
Point3d
_t
classisam_1_1Pose3d.html
a30d18b3e99fecea0ff949484ca771191
friend std::ostream &
operator<<
classisam_1_1Pose3d.html
a87a37d58f3b37878d313a318c66999c3
(std::ostream &out, const Pose3d &p)
isam::Pose3d_Factor
classisam_1_1Pose3d__Factor.html
FactorT< Pose3d >
Eigen::VectorXd
basic_error
classisam_1_1Pose3d__Factor.html
ad21c88c2db8731f6468db8ace93ba391
(Selector s=ESTIMATE) const
void
initialize
classisam_1_1Pose3d__Factor.html
a84937ccbdfdb5f1f6641d5c5836e98e2
()
Pose3d_Factor
classisam_1_1Pose3d__Factor.html
ae53ccb55ee2035bcfddf30e6475d21c6
(Pose3d_Node *pose, const Pose3d &prior, const Noise &noise)
Pose3d_Node *
_pose
classisam_1_1Pose3d__Factor.html
a4625d2c9d6a9299928a2ae1a7f11d486
isam::Pose3d_Point3d_Factor
classisam_1_1Pose3d__Point3d__Factor.html
FactorT< Point3d >
Eigen::VectorXd
basic_error
classisam_1_1Pose3d__Point3d__Factor.html
a94c8b7bdde0cd6a35a4e1826c48b637f
(Selector s=ESTIMATE) const
void
initialize
classisam_1_1Pose3d__Point3d__Factor.html
ac60287189c7c43b47f75e08318b6cb79
()
Pose3d_Point3d_Factor
classisam_1_1Pose3d__Point3d__Factor.html
a43603e993ae4ace49a99542fa074939e
(Pose3d_Node *pose, Point3d_Node *point, const Point3d &measure, const Noise &noise)
Point3d_Node *
_point
classisam_1_1Pose3d__Point3d__Factor.html
a74a7b7a660a39f4e7ef64c75172cbfe4
Pose3d_Node *
_pose
classisam_1_1Pose3d__Point3d__Factor.html
a720266115b0c640d8635fa74adab17ac
isam::Pose3d_Pose3d_Factor
classisam_1_1Pose3d__Pose3d__Factor.html
FactorT< Pose3d >
Eigen::VectorXd
basic_error
classisam_1_1Pose3d__Pose3d__Factor.html
a9c0beeda7241af83eb20e0853b4a0b55
(Selector s=ESTIMATE) const
void
initialize
classisam_1_1Pose3d__Pose3d__Factor.html
ab18f0f99563c5e327402f344bf44f604
()
Pose3d_Pose3d_Factor
classisam_1_1Pose3d__Pose3d__Factor.html
a976b3481d1956691c4674b89f4857304
(Pose3d_Node *pose1, Pose3d_Node *pose2, const Pose3d &measure, const Noise &noise, Anchor3d_Node *anchor1=NULL, Anchor3d_Node *anchor2=NULL)
Pose3d_Node *
_pose1
classisam_1_1Pose3d__Pose3d__Factor.html
a535d45431f374697ca87802edf46437a
Pose3d_Node *
_pose2
classisam_1_1Pose3d__Pose3d__Factor.html
a869a0af12ef253decb58738062fd7661
isam::Properties
classisam_1_1Properties.html
Properties
classisam_1_1Properties.html
a6c2b836075d42864fc1625b7cb7e3fe8
()
double
epsilon1
classisam_1_1Properties.html
a422447899de36bbdd21b9cb5dc238d40
double
epsilon2
classisam_1_1Properties.html
ae347757ba6dfcb3b6ed4d5b8b6d92a2b
double
epsilon3
classisam_1_1Properties.html
a38d3ed9094235e478ea42662c8b533ee
double
epsilon_abs
classisam_1_1Properties.html
a65cd7b46b49f60aa86a3b04a4e6df418
double
epsilon_rel
classisam_1_1Properties.html
add0ae55a4275f791217d4f8e16ea3a95
bool
force_numerical_jacobian
classisam_1_1Properties.html
a0e45e62de04d326bf0ed579e480484fd
double
lm_lambda0
classisam_1_1Properties.html
af14bf75779254a1ecf9c8dfe649ade41
double
lm_lambda_factor
classisam_1_1Properties.html
a255116bf0db99b4e2c8bb2f6ceb1dce0
int
max_iterations
classisam_1_1Properties.html
a42fd7ae0ef5b193de82637235ee71be9
Method
method
classisam_1_1Properties.html
a276d7907165321786d41bc0b42f7d5c4
int
mod_batch
classisam_1_1Properties.html
a8de1a61e5e9c497bd598b134166d37a1
int
mod_solve
classisam_1_1Properties.html
aa75df7426c50dcdff6b68a03c0e896c9
int
mod_update
classisam_1_1Properties.html
a4d296d7dc5175abd21c6091b15c4953b
bool
quiet
classisam_1_1Properties.html
ae2408fbd7fa38f6aa65ec0fe8446e0f6
bool
verbose
classisam_1_1Properties.html
a74402a11dfa14974d6d8a4ed22e55cbc
isam::Rot3d
classisam_1_1Rot3d.html
Rot3d
exmap
classisam_1_1Rot3d.html
aa33a98e84ace141e4621e1339f5197e3
(const Eigen::VectorXd &delta) const
Eigen::Matrix3d
oRw
classisam_1_1Rot3d.html
ae50b3b02f48b99401c3c6f30b4b7eeeb
() const
double
pitch
classisam_1_1Rot3d.html
a3f8bf2971e9e2f3184cb0df1df31b929
() const
Eigen::Quaterniond
quaternion
classisam_1_1Rot3d.html
a2b6f243ad9de6ef1a3a73dbb2743c4e5
() const
double
roll
classisam_1_1Rot3d.html
ac4c479bfdea8474ae01858efe3cd1890
() const
Rot3d
classisam_1_1Rot3d.html
a0284db99b91f86cdd9386b01d839597b
()
Rot3d
classisam_1_1Rot3d.html
a698fcef946b59b5bcea87f980720c6d4
(const Eigen::Quaterniond &quat)
Rot3d
classisam_1_1Rot3d.html
afc471cdb3345a7c8a01914eca82b0153
(double yaw, double pitch, double roll)
Rot3d
classisam_1_1Rot3d.html
a3a0f3e91f800c8b90669e35ef3603d91
(const Eigen::Matrix3d &wRo)
void
set
classisam_1_1Rot3d.html
a999cecdec8d3a70dca47114e86f922fe
(double yaw, double pitch, double roll)
void
set_pitch
classisam_1_1Rot3d.html
abe10a759c3267f02192c9f556eca73da
(double pitch)
void
set_roll
classisam_1_1Rot3d.html
a1e4d49e3ea67316e56ad67e6732a4ba9
(double roll)
void
set_yaw
classisam_1_1Rot3d.html
a661d3bbf2a48508a8e46e6c7f1a5a93b
(double yaw)
double
w
classisam_1_1Rot3d.html
aeead6a85d2bbba0b56be98d84b963a2b
() const
void
write
classisam_1_1Rot3d.html
ad88592946f03197cb6e61114250a79e1
(std::ostream &out) const
const Eigen::Matrix3d &
wRo
classisam_1_1Rot3d.html
ace13cb4012cb2d94a2603661aa23f4fd
() const
double
x
classisam_1_1Rot3d.html
a174a2ebb9318817aeceffd427e0ccf7d
() const
double
y
classisam_1_1Rot3d.html
a194134ecd6c36af34ab3336ac55e326a
() const
double
yaw
classisam_1_1Rot3d.html
a2ec95bb36289ecf8efbd7ca838232554
() const
void
ypr
classisam_1_1Rot3d.html
a1c2ad06474d15ec7aa4e3daf5692ffb5
(double &yaw, double &pitch, double &roll) const
double
z
classisam_1_1Rot3d.html
a1eb74e92355238c6c7861435b95a169e
() const
static Eigen::Quaterniond
delta3_to_quat
classisam_1_1Rot3d.html
a3fa9be9d731a0224fbca6f06d2794cf0
(const Eigen::Vector3d &delta)
static Eigen::Quaterniond
euler_to_quat
classisam_1_1Rot3d.html
a16ea8e8b8734baf119599f3a2e37f891
(double yaw, double pitch, double roll)
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Matrix3d
euler_to_wRo
classisam_1_1Rot3d.html
a4cea7d8687c5c280f55fc2c1496bd06d
(double yaw, double pitch, double roll)
static const char *
name
classisam_1_1Rot3d.html
a2dc182b61da6d2a9ef9411c3d6cad13c
()
static void
quat_to_euler
classisam_1_1Rot3d.html
ac6794b37e82416d8a929b22f87063ac5
(Eigen::Quaterniond q, double &yaw, double &pitch, double &roll)
static Eigen::Matrix3d
quat_to_wRo
classisam_1_1Rot3d.html
ae1f19797ab801c951bfc9d68a88ad805
(const Eigen::Quaterniond &quat)
static void
wRo_to_euler
classisam_1_1Rot3d.html
ae46686501adaccc3455fa8d4bffaec65
(const Eigen::Matrix3d &wRo, double &yaw, double &pitch, double &roll)
static Eigen::Quaterniond
wRo_to_quat
classisam_1_1Rot3d.html
af2c0eaf8f57480017407efe8594f6958
(const Eigen::Matrix3d &wRo)
static const int
dim
classisam_1_1Rot3d.html
a785ee029a3fa76fac517954ca92d3857
static const int
size
classisam_1_1Rot3d.html
a28c6ec95e489b8629e1b225f60663d9d
void
ensure_ypr
classisam_1_1Rot3d.html
af0eec37a7d93118aa8ad1835c9fcad1a
() const
double
_pitch
classisam_1_1Rot3d.html
a35bea7f84b3d62096c91e874be9aacfc
Eigen::Quaterniond
_quat
classisam_1_1Rot3d.html
a0d0cb0bb5c905e7afb349e8eee68ab32
double
_roll
classisam_1_1Rot3d.html
a60e683a51720ae11ed58a7619e9d5e6f
Eigen::Matrix3d
_wRo
classisam_1_1Rot3d.html
a0793fdad654e68dec7615b437ffe8728
bool
_wRo_cached
classisam_1_1Rot3d.html
a14a4d3aea2738bffdd690325e9d27dbd
double
_yaw
classisam_1_1Rot3d.html
a9f22ff1ca8f2202cc5ee28d704f09ecd
bool
_ypr_cached
classisam_1_1Rot3d.html
a25ac6aeff1665ee8a5468a2396f191e4
friend std::ostream &
operator<<
classisam_1_1Rot3d.html
a688102e5dc1a30a130c0b38a46a6626d
(std::ostream &out, const Rot3d &p)
isam::Slam
classisam_1_1Slam.html
isam::Graph
isam::OptimizationInterface
void
add_factor
classisam_1_1Slam.html
a0ffd2e7661643d9484e781ed1b2e85fa
(Factor *factor)
void
add_node
classisam_1_1Slam.html
a3bc8318efd9a16dd7d26e427ede2b5d9
(Node *node)
virtual int
batch_optimization
classisam_1_1Slam.html
afd2d6a058f2212757ba7c3f46d66ac16
()
double
chi2
classisam_1_1Slam.html
a00d7c1fdbc104ff523bf504694f6641e
(Selector s=ESTIMATE)
const Covariances &
covariances
classisam_1_1Slam.html
a726af7abcb03f5cc355af9b20caee183
()
virtual const SparseSystem &
get_R
classisam_1_1Slam.html
a68d65b0040097309cf795c6823b0db90
() const
virtual SparseSystem
jacobian
classisam_1_1Slam.html
a110ad545644b4dfa88f3517d791643a6
()
virtual SparseSystem
jacobian_numerical_columnwise
classisam_1_1Slam.html
a0576ed6f229428997af3bffd9a5ee51d
()
virtual SparseSystem
jacobian_partial
classisam_1_1Slam.html
a109b15ffbf6b347d96ab6e5e8fd89992
(int last_n)
double
local_chi2
classisam_1_1Slam.html
a216a3f0019aaa4faa9fadae40cf1f88a
(int last_n)
double
normalized_chi2
classisam_1_1Slam.html
ab3613c9fd51ad1b50a49e8388b94448a
()
virtual void
print_stats
classisam_1_1Slam.html
ad43833ba2023e041f00acb2da68e3dcf
()
Properties
properties
classisam_1_1Slam.html
af6b50b6dd1732df28d231440ce286584
()
void
remove_factor
classisam_1_1Slam.html
a6239daed009d7e8ea2890856b6a70099
(Factor *factor)
void
remove_node
classisam_1_1Slam.html
a835ef66e5f33664f5880d812b7e6b791
(Node *node)
void
save
classisam_1_1Slam.html
af48c4bd0614dd927994fcffadfa10fcf
(const std::string fname) const
void
set_cost_function
classisam_1_1Slam.html
ab0733c5e87644f2682a56965bfba1492
(cost_func_t cost_func)
void
set_properties
classisam_1_1Slam.html
ae490c703b50088635b3b685ddf48aee7
(Properties prop)
Slam
classisam_1_1Slam.html
a1e4dc1ad7cd5dd96bf588f503640ef6b
()
virtual UpdateStats
update
classisam_1_1Slam.html
aa1dc0e80516324af073d26238d4a4f8b
()
Eigen::VectorXd
weighted_errors
classisam_1_1Slam.html
a7f724f9a2e82f43e5baa0856e52de631
(Selector s=ESTIMATE)
virtual
~Slam
classisam_1_1Slam.html
a4477b2efe040434eadcc7444d5ad6de3
()
int
_dim_measure
classisam_1_1Slam.html
acefad936065bc2403f06f6dae2d65df7
int
_dim_nodes
classisam_1_1Slam.html
a0c2d2b38ca3de575e462b58c560fad70
int
_num_new_measurements
classisam_1_1Slam.html
ae3da395060ceaab79b5ec019f1a877d7
int
_num_new_rows
classisam_1_1Slam.html
a6e02ff1a1adc7cfff31fe356421b3128
Optimizer
_opt
classisam_1_1Slam.html
acfd0e7576678e2d6d04aeecebe31d671
void
apply_exmap
classisam_1_1Slam.html
aabc34d0c679eb81e71ac07d70e6e1926
(const Eigen::VectorXd &x)
virtual void
batch_optimization_step
classisam_1_1Slam.html
a773aefadac93afa144106b3ace89a7fa
()
void
estimate_to_linpoint
classisam_1_1Slam.html
a9a90eb206e2aec808813c6acbade0f78
()
virtual void
incremental_update
classisam_1_1Slam.html
a19a88267d4a4931bbac318254ff2db20
()
void
linpoint_to_estimate
classisam_1_1Slam.html
a99e81fac7eb0fe6b32cb49c403696025
()
void
self_exmap
classisam_1_1Slam.html
aaf252f8998a51820ddfdda8b6b30d855
(const Eigen::VectorXd &x)
void
swap_estimates
classisam_1_1Slam.html
a4b331972221e838dff432a6d62e8d809
()
void
update_starts
classisam_1_1Slam.html
ae2107313831e383b8374f535e42be979
()
cost_func_t
_cost_func
classisam_1_1Slam.html
aa543aaf26829627630c39f3b00565465
Covariances
_covariances
classisam_1_1Slam.html
afbf69b7fa1e5f28428be85456f10cbf2
Properties
_prop
classisam_1_1Slam.html
a97065e0e1f55f12a6589674e7500c633
bool
_require_batch
classisam_1_1Slam.html
ae847cbe8de5c46b95a296aee1aac9b8d
int
_step
classisam_1_1Slam.html
ad629a644bd65ba4430b177c384a4a0aa
friend class
Covariances
classisam_1_1Slam.html
ad09c79128a9cc8554d566ebb95e311b3
isam::SparseMatrix
classisam_1_1SparseMatrix.html
virtual void
append_in_row
classisam_1_1SparseMatrix.html
a2b8f76f0c7c91cddb09e6beffb0282dd
(int row, int col, const double val)
virtual void
append_new_cols
classisam_1_1SparseMatrix.html
ab6dd79e69b726f377d2e332e080790aa
(int num)
virtual void
append_new_rows
classisam_1_1SparseMatrix.html
ac908990bb12859c0f039f2809c157f1a
(int num)
virtual void
apply_givens
classisam_1_1SparseMatrix.html
a337cab714399f7b8c537fb1182b94b20
(int row, int col, double *c_givens=NULL, double *s_givens=NULL)
virtual void
ensure_num_cols
classisam_1_1SparseMatrix.html
a9373c9e029c6c7a692f95880bd0926ba
(int num_cols)
virtual void
ensure_num_rows
classisam_1_1SparseMatrix.html
abb11117fc0441e18d1244ebc9915cd8c
(int num_rows)
virtual const SparseVector &
get_row
classisam_1_1SparseMatrix.html
ab38d827965b582367855323d5b43a610
(int row) const
virtual void
import_rows
classisam_1_1SparseMatrix.html
ac21a3ceeda0169d9fe915b323dfd33c8
(int num_rows, int num_cols, SparseVector_p *rows)
virtual int
max_nz
classisam_1_1SparseMatrix.html
ab3f8ebff7d089535bdeeab5416159471
() const
virtual int
nnz
classisam_1_1SparseMatrix.html
ab829fd67d39ebcfe134bfb59b465b1bc
() const
int
num_cols
classisam_1_1SparseMatrix.html
acaf4b590d3cc8a6eb98db664b18aa37c
() const
int
num_rows
classisam_1_1SparseMatrix.html
a0dccb75c9ffd563ddf8d681c1f0e64c4
() const
virtual double
operator()
classisam_1_1SparseMatrix.html
aaedfaaf35e4a575961da8dc3dfe8c906
(int row, int col) const
const SparseMatrix &
operator=
classisam_1_1SparseMatrix.html
abc366f0ef7da380f975801f0ec3d83bc
(const SparseMatrix &mat)
virtual void
print
classisam_1_1SparseMatrix.html
a1586b0cae753441bad3182480f9ecae5
(std::ostream &out=std::cout) const
virtual void
print
classisam_1_1SparseMatrix.html
a54e5a774426e40be227b7265a1ad2174
(const std::string &file_name) const
virtual void
print_pattern
classisam_1_1SparseMatrix.html
ae1950bd6de14b9f267a2097e7e4be189
() const
virtual void
print_stats
classisam_1_1SparseMatrix.html
ac961825abff65a92664d3b3830c5edcd
() const
virtual void
remove_row
classisam_1_1SparseMatrix.html
a4fa5db2fdca1dd1b29302bdddbc3afba
()
virtual void
save_pattern_eps
classisam_1_1SparseMatrix.html
ae0f07a0d9a640e391c7fcf0064e8b9a2
(const std::string &file_name) const
virtual void
set
classisam_1_1SparseMatrix.html
ac69ab0f825182b4ac43704b2d1285729
(int row, int col, const double val, bool grow_matrix=false)
virtual void
set_row
classisam_1_1SparseMatrix.html
a67eba2f6048c00e0a3a1404058c78e34
(int row, const SparseVector &new_row)
SparseMatrix
classisam_1_1SparseMatrix.html
ac62d118bf271733aed4205cb2be5cdc3
(int num_rows, int num_cols)
SparseMatrix
classisam_1_1SparseMatrix.html
a4c29fdc244c0d3d173aa548258aa2bd8
(const SparseMatrix &mat)
SparseMatrix
classisam_1_1SparseMatrix.html
a462e5a1fcbbafea94f28a4ea5cff3968
(const SparseMatrix &mat, int num_rows, int num_cols, int first_row=0, int first_col=0)
SparseMatrix
classisam_1_1SparseMatrix.html
a32356ee509b6ff40bbe3a2cfa0d55b6a
(int num_rows, int num_cols, SparseVector_p *rows)
virtual int
triangulate_with_givens
classisam_1_1SparseMatrix.html
a90875d33d7c5c44129b83ec7fa5022c8
()
virtual
~SparseMatrix
classisam_1_1SparseMatrix.html
a835ceb8ccf2c79222448ff826edb18d4
()
void
_allocate_SparseMatrix
classisam_1_1SparseMatrix.html
afef3d70c177549a1f6135db8b11e5b43
(int num_rows, int num_cols, int max_num_rows, int max_num_cols, bool init_rows=true)
void
_copy_from_SparseMatrix
classisam_1_1SparseMatrix.html
a0ecbf853940e612b3ba2f4e7c4219e1e
(const SparseMatrix &mat)
void
_dealloc_SparseMatrix
classisam_1_1SparseMatrix.html
a405da08516175bf5d87ce8c37f694123
()
int
_max_num_cols
classisam_1_1SparseMatrix.html
a997dffbe8c41873aea6f00d1887f27f4
int
_max_num_rows
classisam_1_1SparseMatrix.html
a8d6aa9e736bdf125cb24ff3a34837176
int
_num_cols
classisam_1_1SparseMatrix.html
aa45113c4b65fdf4bd7aa41ba06f7dde9
int
_num_rows
classisam_1_1SparseMatrix.html
a28135a7b09dccfd62caf3c46c42fbcc9
SparseVector_p *
_rows
classisam_1_1SparseMatrix.html
ac53b104fd62ddde4bacc1454a5e95036
friend class
OrderedSparseMatrix
classisam_1_1SparseMatrix.html
ad7777afd5a60cef82cb70be1ab2f47f0
isam::SparseSystem
classisam_1_1SparseSystem.html
isam::OrderedSparseMatrix
virtual void
add_row
classisam_1_1SparseSystem.html
ac4fbfb756f6083dd9b65caaae90175b7
(const SparseVector &new_row, double new_r)
virtual int
add_row_givens
classisam_1_1SparseSystem.html
a1638304a48c9b5fcf3092bf8b70ee169
(const SparseVector &new_row, double new_r)
void
append_new_rows
classisam_1_1SparseSystem.html
a1bca06bcdc35d5d9333f5af94a448771
(int num)
void
apply_givens
classisam_1_1SparseSystem.html
a195f52b829146057149313cef25e1c6a
(int row, int col, double *c_givens=NULL, double *s_givens=NULL)
const SparseSystem &
operator=
classisam_1_1SparseSystem.html
a5f78b4cda2dfb8261718d86643fd677c
(const SparseSystem &mat)
const Eigen::VectorXd &
rhs
classisam_1_1SparseSystem.html
a5dbf1cfad3b0b75ef19cbd2398f7a175
() const
void
set_rhs
classisam_1_1SparseSystem.html
a1b1974677723f1559edd790599719252
(const Eigen::VectorXd &rhs)
virtual Eigen::VectorXd
solve
classisam_1_1SparseSystem.html
ac462aac5d4c19975dd3687c404ad632c
() const
SparseSystem
classisam_1_1SparseSystem.html
aa75198c50d4200c6f7442d3ffef0f0b4
(int num_rows, int num_cols)
SparseSystem
classisam_1_1SparseSystem.html
a696b07d47786f7f4e4785a1f45b9908f
(const SparseSystem &mat)
SparseSystem
classisam_1_1SparseSystem.html
a0d90ce99ff1927903dbf19e562432089
(const SparseSystem &mat, int num_rows, int num_cols, int first_row=0, int first_col=0)
SparseSystem
classisam_1_1SparseSystem.html
a35277b17c6502893b85255075b4f65f3
(int num_rows, int num_cols, SparseVector_p *rows, const Eigen::VectorXd &rhs)
virtual
~SparseSystem
classisam_1_1SparseSystem.html
ae907fdb67ebe0df12f7014e61b120a7f
()
Eigen::VectorXd
_rhs
classisam_1_1SparseSystem.html
a3cccb6152ac371fe5c0ebe701f2c7729
isam::SparseVector
classisam_1_1SparseVector.html
void
add_entries
classisam_1_1SparseVector.html
a66c2046d9a57ac69b6990f413f4d9474
(int num, int pos)
void
append
classisam_1_1SparseVector.html
a22893e4c162ef4ac9b3740b44320e4b8
(int idx, const double val=0.)
void
copy_raw
classisam_1_1SparseVector.html
a43ddd5eed8598fbafc91e975821ffff0
(int *indices, double *values) const
int
first
classisam_1_1SparseVector.html
af70a434a2e339093bc99bba04615ff8f
() const
int
last
classisam_1_1SparseVector.html
af8628c2cd9c8de544e488f03b0b2cd2f
() const
int
nnz
classisam_1_1SparseVector.html
ac3ec7f29785f8721983af238749d7add
() const
double
operator()
classisam_1_1SparseVector.html
adcc8a3aff31b681c71cc48d2fb806924
(int idx) const
const SparseVector &
operator=
classisam_1_1SparseVector.html
a3d39d54d2c6db2d37b349a47879234c0
(const SparseVector &vec)
void
print
classisam_1_1SparseVector.html
aa1ec184e60c1f592017d109db52d5fca
() const
void
remove
classisam_1_1SparseVector.html
a5bcda6f26c0c3c906c635b7850c2c910
(int idx)
bool
set
classisam_1_1SparseVector.html
a2e1d67d871e3b895a5cef4aac2515e9f
(int idx, const double val=0.)
bool
set
classisam_1_1SparseVector.html
a3268176b550065d5051bdc97bc8a7621
(int idx, const Eigen::VectorXd &vals)
SparseVector
classisam_1_1SparseVector.html
acad91b70656043590ed864a1fb3565ce
()
SparseVector
classisam_1_1SparseVector.html
a5770f95b3960703500f01ac87d88f1ad
(int nnz_max)
SparseVector
classisam_1_1SparseVector.html
a71289870195bdc0c102de6bb710d5173
(const SparseVector &vec)
SparseVector
classisam_1_1SparseVector.html
a6cd864b51a36cf437568db076714d76e
(const SparseVector &vec, int num, int first=0)
SparseVector
classisam_1_1SparseVector.html
a511b892fcfa73918eec99a08442e4821
(int *indices, double *values, int nnz)
virtual
~SparseVector
classisam_1_1SparseVector.html
a0664c1e1c6dc058b0e532cbcb64929ac
()
void
_copy_from
classisam_1_1SparseVector.html
a3aeb3bd09439e958d504daf9058ea9b1
(const SparseVector &vec)
void
_dealloc
classisam_1_1SparseVector.html
afa8a844f53079b4a105c2fc04971b5f1
()
void
_resize
classisam_1_1SparseVector.html
a61e50a35aa1170a66a95b579568b6fc3
(int new_nnz_max)
int
_search
classisam_1_1SparseVector.html
ab14287479302a765307c5362e0168bd9
(int idx) const
int *
_indices
classisam_1_1SparseVector.html
aa3f2942a52c5a922c392aeb56d264b84
int
_nnz
classisam_1_1SparseVector.html
a70ca2b3d50f2fa7ce8cbcc99dd290140
int
_nnz_max
classisam_1_1SparseVector.html
a74654029df0b7c0ca344f103d5b6a9fe
double *
_values
classisam_1_1SparseVector.html
a7d8455646320b5bd7c0bf11516535504
friend class
SparseVectorIter
classisam_1_1SparseVector.html
a1496de528829eff30fa599d79579e772
isam::SparseVectorIter
classisam_1_1SparseVectorIter.html
int
get
classisam_1_1SparseVectorIter.html
a3246affa247c4c50d4db80fe5c367f52
() const
int
get
classisam_1_1SparseVectorIter.html
aeaaec298f2760f0a7c3209df721e0f83
(double &val) const
double
get_val
classisam_1_1SparseVectorIter.html
a4cd68b8968ad0dc0745aac2ef6999817
() const
void
next
classisam_1_1SparseVectorIter.html
a6d548bdc96befde793ec10f645cb0fc1
()
SparseVectorIter
classisam_1_1SparseVectorIter.html
ab9eaeea6112b8c3b351605a553e38cfe
(const SparseVector &sv)
bool
valid
classisam_1_1SparseVectorIter.html
ac5107540ee8f171c3e0029507bcb97a9
() const
int
index
classisam_1_1SparseVectorIter.html
aa8a1f403ac61e934343a3b05d3d07163
const SparseVector &
s
classisam_1_1SparseVectorIter.html
a71fb33f3201c0780cd5f6ba2a8c3a14e
isam::SqrtInformation
classisam_1_1SqrtInformation.html
isam::Noise
SqrtInformation
classisam_1_1SqrtInformation.html
afb610e53aa24621f0c05baa3de9cb24e
(const Eigen::MatrixXd &sqrtinf)
isam::Stereo_Factor
classisam_1_1Stereo__Factor.html
FactorT< StereoMeasurement >
Eigen::VectorXd
basic_error
classisam_1_1Stereo__Factor.html
a81218497d3ac93cfb2c7abf8e106adc5
(Selector s=ESTIMATE) const
void
initialize
classisam_1_1Stereo__Factor.html
ac3217fe7713758863880722992f22391
()
Stereo_Factor
classisam_1_1Stereo__Factor.html
ad6d750e9bb23025f265af9158dc7f8ec
(Pose3d_Node *pose, Point3dh_Node *point, StereoCamera *camera, const StereoMeasurement &measure, const Noise &noise, bool relative=false)
Stereo_Factor
classisam_1_1Stereo__Factor.html
af0556620a502f69c60bddea09e478329
(Pose3d_Node *pose, Point3d_Node *point, StereoCamera *camera, const StereoMeasurement &measure, const Noise &noise, bool relative=false)
Pose3d_Node *
_base
classisam_1_1Stereo__Factor.html
ab8dcf6dacf420e497802b0d00bfc3a6d
StereoCamera *
_camera
classisam_1_1Stereo__Factor.html
a04adbf86fa0b8c5eccb2a3a6c94d3a36
Point3d_Node *
_point
classisam_1_1Stereo__Factor.html
a7b04703bca144f2fe876713ae96a9282
Point3dh_Node *
_point_h
classisam_1_1Stereo__Factor.html
af3128f3a72102f9a10170eec92ff688f
Pose3d_Node *
_pose
classisam_1_1Stereo__Factor.html
a14454312be3716c9814ec16ca5cf5302
bool
_relative
classisam_1_1Stereo__Factor.html
a06aaf9d87827ff23454ae4b27e26fe40
isam::StereoCamera
classisam_1_1StereoCamera.html
Point3dh
backproject
classisam_1_1StereoCamera.html
afa47827a9e087391a5b10ec21c8ecc7d
(const Pose3d &pose, const StereoMeasurement &measure) const
double
baseline
classisam_1_1StereoCamera.html
aa71624bca73e1244177dbef294cc6c2d
() const
double
focalLength
classisam_1_1StereoCamera.html
ab73de83b14079734d2f906561ab53f81
() const
Eigen::Vector2d
principalPoint
classisam_1_1StereoCamera.html
a2fcb7048864dca66c6656ae6d71783eb
() const
StereoMeasurement
project
classisam_1_1StereoCamera.html
a17df6dbc04385602b1471edc847cfc12
(const Pose3d &pose, const Point3dh &Xw) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
StereoCamera
classisam_1_1StereoCamera.html
a1fd9865751fdd3294a4bd07b8707e62c
()
StereoCamera
classisam_1_1StereoCamera.html
ad066b2f752a79aba7830fb746b00c148
(double f, const Eigen::Vector2d &pp, double b)
double
_b
classisam_1_1StereoCamera.html
a76fc3855b67f0c68411bb63b69fd5cd0
double
_f
classisam_1_1StereoCamera.html
aef4dec52c97df5bd0e5d7581ad5a9c5a
Eigen::Vector2d
_pp
classisam_1_1StereoCamera.html
a6f630e47767c25cd2d166bd3f826f957
isam::StereoMeasurement
classisam_1_1StereoMeasurement.html
double
disparity
classisam_1_1StereoMeasurement.html
ac1e2eeb2b5deb17892b44cbbcf92daf6
() const
Eigen::Vector2d
left_pixel
classisam_1_1StereoMeasurement.html
a1c768d190d80e8bb7a6f393fa94876f8
() const
Eigen::Vector2d
right_pixel
classisam_1_1StereoMeasurement.html
a22a238f9ecc97cf5cb539e339bd668bb
() const
StereoMeasurement
classisam_1_1StereoMeasurement.html
af9ac6aedcb544397321d4dee5f2ab7ba
(double u, double v, double u2)
StereoMeasurement
classisam_1_1StereoMeasurement.html
aead353c2180f0d3d55b0613438025b3f
(double u, double v, double u2, bool valid)
Eigen::Vector3d
vector
classisam_1_1StereoMeasurement.html
a7a1493c37ab9b7b9e9520b038b310085
() const
void
write
classisam_1_1StereoMeasurement.html
a0e98fde8ea88e6df4dacdb74c7755803
(std::ostream &out) const
double
u
classisam_1_1StereoMeasurement.html
a84c091abcdfc4dd39a271aecafebacc0
double
u2
classisam_1_1StereoMeasurement.html
a5b202e7af5599adf2e79933cf66e04b5
double
v
classisam_1_1StereoMeasurement.html
a22a61e4f4e245e60fb157ff05bf723ae
bool
valid
classisam_1_1StereoMeasurement.html
af5a9b276fbeb99248210c1ae37bdf961
friend std::ostream &
operator<<
classisam_1_1StereoMeasurement.html
a24b0e7f598672f278f9df7b6392d6b81
(std::ostream &out, const StereoMeasurement &t)
isam::Term
classisam_1_1Term.html
const Node *
node
classisam_1_1Term.html
a1d4c0f3f98afb1ba7d9a16bf4a752ffb
() const
const Eigen::MatrixXd &
term
classisam_1_1Term.html
a044627abb5c6fd7467f74b707a01ebff
() const
Term
classisam_1_1Term.html
ae51361e6551265a2718448084570a783
(Node *node, const Eigen::MatrixXd &term)
Term
classisam_1_1Term.html
acfcb256d1c6fd7cd77e8e8f40a47eacd
(Node *node, const double *term, int r, int c)
void
write
classisam_1_1Term.html
abd0c33490788ff75a849253b95605fe0
(std::ostream &out) const
Node *
_node
classisam_1_1Term.html
a2e6aed5086b80fff2b1e16c85901c355
Eigen::MatrixXd
_term
classisam_1_1Term.html
a155295c6b0b9980e66a41f76c4c0d8bb
friend std::ostream &
operator<<
classisam_1_1Term.html
a914c9a778319d2fccda15b409fc8571c
(std::ostream &output, const Term &t)
isam::Timing
classisam_1_1Timing.html
isam::Timing::Stats
void
add_dt
classisam_1_1Timing.html
af41ce710ffa6204975a9ec4f72765799
(string id, double dt)
void
add_t0
classisam_1_1Timing.html
affab492e4ec32f1e4b0caa2347928d00
(string id, double t0)
double
get_t0
classisam_1_1Timing.html
aea35b442e8345183565f675baeb8a398
(string id)
void
print
classisam_1_1Timing.html
a4e3b5b4dfb7eb33beeface432f9c88aa
()
double
time
classisam_1_1Timing.html
a9ae556ec5d89fc1812404a419e3ae393
(string id)
map< string, Stats >
stats
classisam_1_1Timing.html
a6a0cb2fbd1ba0d658ca3a4fd2619cabc
isam::Timing::Stats
classisam_1_1Timing_1_1Stats.html
int
n
classisam_1_1Timing_1_1Stats.html
a8d1c74142250fc23f26bfb0b15ab259b
double
t
classisam_1_1Timing_1_1Stats.html
a79a3b9b78cf2a128d0e31cadd3ad8ca8
double
t0
classisam_1_1Timing_1_1Stats.html
a326deb476be278fd70296e2b7462cf14
double
t_max
classisam_1_1Timing_1_1Stats.html
a0559eb021075a0bd9b0b0a777fff9a39
double
t_min
classisam_1_1Timing_1_1Stats.html
a0eba0433d1488573db3eff6f28a601b6
isam::UpdateStats
classisam_1_1UpdateStats.html
bool
batch
classisam_1_1UpdateStats.html
aa9913f65341c07a570f8d83dfd2828cb
bool
solve
classisam_1_1UpdateStats.html
a7b604cf0ab214077cbf1a2e32bd537d2
int
step
classisam_1_1UpdateStats.html
a1b18a46142ff55a0f839b2c369c3173a
ros
namespaceros.html
tf
namespacetf.html
index
iSAM: Incremental Smoothing and Mapping (v1.6)
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