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graphslam/include/mrpt/graphslam/types.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef GRAPH_SLAM_TYPES_H
10 #define GRAPH_SLAM_TYPES_H
11 
13 #include <mrpt/poses/SE_traits.h>
14 
15 namespace mrpt
16 {
17  /** SLAM methods related to graphs of pose constraints
18  * \sa mrpt::graphs::CNetworkOfPoses \ingroup mrpt_graphslam_grp
19  */
20  namespace graphslam
21  {
22  /** \addtogroup mrpt_graphslam_grp
23  * @{ */
24 
25  /** Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names
26  * \tparam GRAPH_T This will typically be any mrpt::graphs::CNetworkOfPoses<...>
27  */
28  template <class GRAPH_T>
30  {
31  typedef GRAPH_T graph_t; //!< Typ: mrpt::graphs::CNetworkOfPoses<...>
33  typedef typename graph_t::constraint_t edge_t;
34  typedef typename edge_t::type_value edge_poses_type;
35  typedef mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions> SE_TYPE;
36  typedef typename SE_TYPE::matrix_VxV_t matrix_VxV_t;
37  typedef typename SE_TYPE::array_t Array_O; // An array of the correct size for an "observation" (i.e. a relative pose in an edge)
38  typedef std::pair<matrix_VxV_t,matrix_VxV_t> TPairJacobs;
39  typedef typename mrpt::aligned_containers<
41  TPairJacobs
42  >::multimap_t map_pairIDs_pairJacobs_t;
43 
44  /** Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the constraints being taking into account. */
46  {
48  // Data:
50  const typename gst::graph_t::constraint_t::type_value *edge_mean;
51  typename gst::graph_t::constraint_t::type_value *P1,*P2;
52  };
53 
54  typedef void (*TFunctorFeedback)(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error );
55  };
56 
57  /** Output information for mrpt::graphslam::optimize_graph_spa_levmarq() */
59  {
60  size_t num_iters; //!< The number of LM iterations executed.
61  double final_total_sq_error; //!< The sum of all the squared errors for every constraint involved in the problem.
62  };
63 
64  /** @} */ // end of grouping
65 
66  } // End of namespace
67 } // End of namespace
68 
69 #endif
GLvoid *typedef void(GLAPIENTRY *PFNGLGETVERTEXATTRIBDVPROC)(GLuint
Definition: glew.h:1745
size_t num_iters
The number of LM iterations executed.
GRAPH_T graph_t
Typ: mrpt::graphs::CNetworkOfPoses<...>
const Scalar * const_iterator
Definition: eigen_plugins.h:24
Helper types for STL containers with Eigen memory allocators.
mrpt::aligned_containers< mrpt::utils::TPairNodeIDs, TPairJacobs >::multimap_t map_pairIDs_pairJacobs_t
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...
std::pair< matrix_VxV_t, matrix_VxV_t > TPairJacobs
std::pair< TNodeID, TNodeID > TPairNodeIDs
A pair of node IDs.
Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...
void(* TFunctorFeedback)(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Output information for mrpt::graphslam::optimize_graph_spa_levmarq()
graph_t::edges_map_t::const_iterator edge_const_iterator
double final_total_sq_error
The sum of all the squared errors for every constraint involved in the problem.
mrpt::poses::SE_traits< edge_poses_type::rotation_dimensions > SE_TYPE



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