Public Member Functions | Private Attributes | List of all members
SpaSolver Class Reference

#include <SpaSolver.h>

Inheritance diagram for SpaSolver:
Inheritance graph
[legend]

Public Member Functions

virtual void AddConstraint (karto::Edge< karto::LocalizedObjectPtr > *pEdge)
 
virtual void AddNode (karto::Vertex< karto::LocalizedObjectPtr > *pVertex)
 
virtual void Clear ()
 
virtual void Compute ()
 
virtual const karto::ScanSolver::IdPoseVectorGetCorrections () const
 
void getGraph (std::vector< float > &g)
 x,y -> x',y' 4 floats per connection More...
 
void reCompute ()
 
 SpaSolver ()
 
virtual ~SpaSolver ()
 
- Public Member Functions inherited from karto::ScanSolver
 ScanSolver ()
 
- Public Member Functions inherited from karto::Referenced
 Referenced ()
 

Private Attributes

karto::ScanSolver::IdPoseVector corrections
 
SysSPA2d m_Spa
 
ros::Time mLastSPA
 

Additional Inherited Members

- Public Types inherited from karto::ScanSolver
typedef List< Pair< kt_int32s, Pose2 > > IdPoseVector
 
- Protected Member Functions inherited from karto::ScanSolver
virtual void RemoveConstraint (kt_int32s, kt_int32s)
 
virtual void RemoveNode (kt_int32s)
 
- Protected Member Functions inherited from karto::Referenced
kt_int32s GetReferenceCount ()
 
kt_int32s Reference () const
 
kt_int32s Unreference () const
 
kt_int32s UnreferenceNoDelete () const
 

Detailed Description

Definition at line 36 of file SpaSolver.h.

Constructor & Destructor Documentation

SpaSolver::SpaSolver ( )

Definition at line 22 of file SpaSolver.cpp.

SpaSolver::~SpaSolver ( )
virtual

Definition at line 28 of file SpaSolver.cpp.

Member Function Documentation

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

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 74 of file SpaSolver.cpp.

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

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 67 of file SpaSolver.cpp.

void SpaSolver::Clear ( )
virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 33 of file SpaSolver.cpp.

void SpaSolver::Compute ( )
virtual

public: /** Solve!

Implements karto::ScanSolver.

Definition at line 43 of file SpaSolver.cpp.

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

Gets corrected poses after optimization

Returns
optimized poses

Implements karto::ScanSolver.

Definition at line 38 of file SpaSolver.cpp.

void SpaSolver::getGraph ( std::vector< float > &  g)
inline

x,y -> x',y' 4 floats per connection

Definition at line 53 of file SpaSolver.h.

void SpaSolver::reCompute ( )

Definition at line 60 of file SpaSolver.cpp.

Member Data Documentation

karto::ScanSolver::IdPoseVector SpaSolver::corrections
private

Definition at line 57 of file SpaSolver.h.

SysSPA2d SpaSolver::m_Spa
private

Definition at line 59 of file SpaSolver.h.

ros::Time SpaSolver::mLastSPA
private

Definition at line 61 of file SpaSolver.h.


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


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Thu Jun 6 2019 19:20:25