spa2d.cpp File Reference
#include <nav2d_karto/spa2d.h>
#include <stdio.h>
#include <Eigen/Cholesky>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <sys/time.h>
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static int getind (std::map< int, int > &m, int ind)
static long long utime ()

Function Documentation

static int getind ( std::map< int, int > &  m,
int  ind 
) [inline, static]

Run the LM algorithm that computes a nonlinear SPA estimate. <window> is the number of nodes in the window, the last nodes added <niter> is the max number of iterations to perform; returns the number actually performed. <lambda> is the diagonal augmentation for LM. <useCSParse> = 0 for dense Cholesky, 1 for sparse Cholesky, 2 for sparse PCG

Definition at line 640 of file spa2d.cpp.

static long long utime ( ) [static]

Definition at line 52 of file spa2d.cpp.

Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 03:53:09