mrpt::graphslam Namespace Reference

Detailed Description

SLAM methods related to graphs of pose constraints.

See also

mrpt::graphs::CNetworkOfPoses

Namespaces
	apps
	deciders
	detail
	Internal auxiliary classes.
	optimizers

Classes
class	CGraphSlamEngine
	Main file for the GraphSlamEngine. More...
class	CRegistrationDeciderOrOptimizer
	Interface for implementing node/edge registration deciders or optimizer classes. More...
class	CWindowManager
	Class acts as a container for storing pointers to mrpt::gui::CDisplayWindow3D, mrpt::graphslam::CWindowObserver instances. More...
class	CWindowObserver
	Monitor events in the visualization window. More...
struct	graphslam_traits
	Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names. More...
struct	TResultInfoSpaLevMarq
	Output information for mrpt::graphslam::optimize_graph_spa_levmarq() More...
struct	TSlidingWindow
	Class to monitor the evolution of a statistical quantity. More...
struct	TUncertaintyPath
	Holds the data of an information path. More...

Functions
template<class GRAPH_T >
void	optimize_graph_spa_levmarq (GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::utils::TNodeID > *in_nodes_to_optimize=nullptr, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), typename graphslam_traits< GRAPH_T >::TFunctorFeedback functor_feedback=typename graphslam_traits< GRAPH_T >::TFunctorFeedback())
	Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquardt optimizer. More...
template<class GRAPH_T >
double	computeJacobiansAndErrors (const GRAPH_T &graph, const std::vector< typename graphslam_traits< GRAPH_T >::observation_info_t > &lstObservationData, typename graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t &lstJacobians, typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t &errs)

Function Documentation

computeJacobiansAndErrors()

template<class GRAPH_T >

double mrpt::graphslam::computeJacobiansAndErrors	(	const GRAPH_T &	graph,
		const std::vector< typename graphslam_traits< GRAPH_T >::observation_info_t > &	lstObservationData,
		typename graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t &	lstJacobians,
		typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t &	errs
	)

Definition at line 187 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM, and mrpt::poses::UNINITIALIZED_POSE.