31 template <
class GRAPH_T>
38 using edge_t =
typename graph_t::constraint_t;
43 typename SE_TYPE::tangent_vector;
48 std::multimap<mrpt::graphs::TPairNodeIDs, TPairJacobs>;
58 const typename gst::graph_t::constraint_t::type_value*
edge_mean;
59 typename gst::graph_t::constraint_t::type_value *
P1, *
P2;
63 const GRAPH_T& graph,
const size_t iter,
const size_t max_iter,
64 const double cur_sq_error)>;
size_t num_iters
The number of LM iterations executed.
typename SE_TYPE::tangent_vector Array_O
typename graph_t::edges_map_t::value_type edge_map_entry_t
typename graph_t::edges_map_t::const_iterator edge_const_iterator
gst::graph_t::constraint_t::type_value * P1
const gst::edge_map_entry_t * edge
gst::graph_t::constraint_t::type_value * P2
std::multimap< mrpt::graphs::TPairNodeIDs, TPairJacobs > map_pairIDs_pairJacobs_t
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...
std::pair< matrix_TxT, matrix_TxT > TPairJacobs
Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...
Traits for SE(n), rigid-body transformations in R^n space.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
typename graph_t::constraint_t edge_t
std::function< void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)> TFunctorFeedback
Output information for mrpt::graphslam::optimize_graph_spa_levmarq()
typename edge_t::type_value edge_poses_type
const gst::graph_t::constraint_t::type_value * edge_mean
typename SE_TYPE::matrix_TxT matrix_TxT
double final_total_sq_error
The sum of all the squared errors for every constraint involved in the problem.
GRAPH_T graph_t
Typ: mrpt::graphs::CNetworkOfPoses<...>