treeoptimizer2.hh
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36 
44 #ifndef _TREEOPTIMIZER2_HH_
45 #define _TREEOPTIMIZER2_HH_
46 
47 #include "posegraph2.hh"
48 
49 namespace AISNavigation {
50 
53  typedef std::vector<Pose> PoseVector;
54 
57 
59  virtual ~TreeOptimizer2();
60 
63 
66 
69 
71  void iterate(TreePoseGraph2::EdgeSet* eset=0);
72 
74  double error() const;
75 
76 protected:
78  void computePreconditioner();
79 
81  void propagateErrors();
82 
85  void updatePoseChain(Vertex* v, Vertex* top);
86 
89  Pose getPose(Vertex*v, Vertex* top);
90 
92  double error(const Edge* e) const;
93 
95  int iteration;
96 
98  double gamma[3];
99 
102  PoseVector M;
103 
104 };
105 
106 }; //namespace AISNavigation
107 #endif
void iterate(TreePoseGraph2::EdgeSet *eset=0)
Class that contains the core optimization algorithm.
GLM_FUNC_DECL genType e()
std::vector< Pose > PoseVector
Defines the graph of 2D poses, with specific functionalities such as loading, saving, merging constraints, and etc.
void updatePoseChain(Vertex *v, Vertex *top)
Pose getPose(Vertex *v, Vertex *top)
The class (struct) that contains 2D graph related functions such as loading, saving, merging, etc.
Definition: posegraph2.hh:57
2D Point (x,y) with orientation (theta)
std::multiset< Edge *, EVComparator< Edge *> > EdgeSet
Definition: posegraph.hh:123


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:58