#include <ceres_solver.hpp>

Inheritance diagram for solver_plugins::CeresSolver:

Public Member Functions
virtual void	AddConstraint (karto::Edge< karto::LocalizedRangeScan > *pEdge)

virtual void	AddNode (karto::Vertex< karto::LocalizedRangeScan > *pVertex)

	CeresSolver ()

virtual void	Clear ()

virtual void	Compute ()

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

virtual std::unordered_map< int, Eigen::Vector3d > *	getGraph ()

virtual void	GetNodeOrientation (const int &unique_id, double &pose)

virtual void	ModifyNode (const int &unique_id, Eigen::Vector3d pose)

virtual void	RemoveConstraint (kt_int32s sourceId, kt_int32s targetId)

virtual void	RemoveNode (kt_int32s id)

virtual void	Reset ()

virtual	~CeresSolver ()

Public Member Functions inherited from karto::ScanSolver
	ScanSolver ()

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

virtual	~ScanSolver ()

Private Attributes
ceres::LocalParameterization *	angle_local_parameterization_

std::unordered_map< size_t, ceres::ResidualBlockId > *	blocks_

karto::ScanSolver::IdPoseVector	corrections_

bool	debug_logging_

std::unordered_map< int, Eigen::Vector3d >::iterator	first_node_

ceres::LossFunction *	loss_function_

std::unordered_map< int, Eigen::Vector3d > *	nodes_

boost::mutex	nodes_mutex_

ceres::Solver::Options	options_

ceres::Problem::Options	options_problem_

ceres::Problem *	problem_

bool	was_constant_set_

Additional Inherited Members
Public Types inherited from karto::ScanSolver
typedef std::vector< std::pair< kt_int32s, Pose2 > >	IdPoseVector

Detailed Description

Definition at line 30 of file ceres_solver.hpp.

Constructor & Destructor Documentation

◆ CeresSolver()

solver_plugins::CeresSolver::CeresSolver ( )

Definition at line 18 of file ceres_solver.cpp.

◆ ~CeresSolver()

solver_plugins::CeresSolver::~CeresSolver ( )

virtual

Definition at line 152 of file ceres_solver.cpp.

Member Function Documentation

◆ AddConstraint()

void solver_plugins::CeresSolver::AddConstraint ( karto::Edge< karto::LocalizedRangeScan > * )

virtual

Adds a constraint to the solver

Reimplemented from karto::ScanSolver.

Definition at line 299 of file ceres_solver.cpp.

◆ AddNode()

void solver_plugins::CeresSolver::AddNode ( karto::Vertex< karto::LocalizedRangeScan > * )

virtual

Adds a node to the solver

Reimplemented from karto::ScanSolver.

Definition at line 275 of file ceres_solver.cpp.

◆ Clear()

void solver_plugins::CeresSolver::Clear ( )

virtual

Resets the solver

Reimplemented from karto::ScanSolver.

Definition at line 236 of file ceres_solver.cpp.

◆ Compute()

void solver_plugins::CeresSolver::Compute ( )

virtual

Solve!

Implements karto::ScanSolver.

Definition at line 170 of file ceres_solver.cpp.

◆ GetCorrections()

const karto::ScanSolver::IdPoseVector & solver_plugins::CeresSolver::GetCorrections ( ) const

virtual

Get corrected poses after optimization

Returns: optimized poses

Implements karto::ScanSolver.

Definition at line 229 of file ceres_solver.cpp.

◆ getGraph()

std::unordered_map< int, Eigen::Vector3d > * solver_plugins::CeresSolver::getGraph ( )

virtual

Get graph stored

Reimplemented from karto::ScanSolver.

Definition at line 422 of file ceres_solver.cpp.

◆ GetNodeOrientation()

void solver_plugins::CeresSolver::GetNodeOrientation	(	const int &	unique_id,
		double &	pose
	)

virtual

Get node's yaw

Reimplemented from karto::ScanSolver.

Definition at line 410 of file ceres_solver.cpp.

◆ ModifyNode()

void solver_plugins::CeresSolver::ModifyNode	(	const int &	unique_id,
		Eigen::Vector3d	pose
	)

virtual

Modify a node's pose

Reimplemented from karto::ScanSolver.

Definition at line 396 of file ceres_solver.cpp.

◆ RemoveConstraint()

void solver_plugins::CeresSolver::RemoveConstraint	(	kt_int32s	,
		kt_int32s
	)

virtual

Removes a constraint from the solver

Reimplemented from karto::ScanSolver.

Definition at line 370 of file ceres_solver.cpp.

◆ RemoveNode()

void solver_plugins::CeresSolver::RemoveNode ( kt_int32s )

virtual

Removes a node from the solver

Reimplemented from karto::ScanSolver.

Definition at line 354 of file ceres_solver.cpp.

◆ Reset()

void solver_plugins::CeresSolver::Reset ( )

virtual

Resets the solver for reinitialization

Reimplemented from karto::ScanSolver.

Definition at line 243 of file ceres_solver.cpp.

Member Data Documentation

◆ angle_local_parameterization_

ceres::LocalParameterization* solver_plugins::CeresSolver::angle_local_parameterization_

private

Definition at line 60 of file ceres_solver.hpp.

◆ blocks_

std::unordered_map<size_t, ceres::ResidualBlockId>* solver_plugins::CeresSolver::blocks_

private

Definition at line 65 of file ceres_solver.hpp.

◆ corrections_

karto::ScanSolver::IdPoseVector solver_plugins::CeresSolver::corrections_

private

Definition at line 53 of file ceres_solver.hpp.

◆ debug_logging_

bool solver_plugins::CeresSolver::debug_logging_

private

Definition at line 61 of file ceres_solver.hpp.

◆ first_node_

std::unordered_map<int, Eigen::Vector3d>::iterator solver_plugins::CeresSolver::first_node_

private

Definition at line 66 of file ceres_solver.hpp.

◆ loss_function_

ceres::LossFunction* solver_plugins::CeresSolver::loss_function_

private

Definition at line 58 of file ceres_solver.hpp.

◆ nodes_

std::unordered_map<int, Eigen::Vector3d>* solver_plugins::CeresSolver::nodes_

private

Definition at line 64 of file ceres_solver.hpp.

◆ nodes_mutex_

boost::mutex solver_plugins::CeresSolver::nodes_mutex_

private

Definition at line 67 of file ceres_solver.hpp.

◆ options_

ceres::Solver::Options solver_plugins::CeresSolver::options_

private

Definition at line 56 of file ceres_solver.hpp.

◆ options_problem_

ceres::Problem::Options solver_plugins::CeresSolver::options_problem_

private

Definition at line 57 of file ceres_solver.hpp.

◆ problem_

ceres::Problem* solver_plugins::CeresSolver::problem_

private

Definition at line 59 of file ceres_solver.hpp.

◆ was_constant_set_

bool solver_plugins::CeresSolver::was_constant_set_

private

Definition at line 61 of file ceres_solver.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CeresSolver()

◆ ~CeresSolver()

Member Function Documentation

◆ AddConstraint()

◆ AddNode()

◆ Clear()

◆ Compute()

◆ GetCorrections()

◆ getGraph()

◆ GetNodeOrientation()

◆ ModifyNode()

◆ RemoveConstraint()

◆ RemoveNode()

◆ Reset()

Member Data Documentation

◆ angle_local_parameterization_

◆ blocks_

◆ corrections_

◆ debug_logging_

◆ first_node_

◆ loss_function_

◆ nodes_

◆ nodes_mutex_

◆ options_

◆ options_problem_

◆ problem_

◆ was_constant_set_