MRPT  1.9.9
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 , class FEEDBACK_CALLABLE = typename graphslam_traits<GRAPH_T>::TFunctorFeedback>
void optimize_graph_spa_levmarq (GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::graphs::TNodeID > *in_nodes_to_optimize=nullptr, const mrpt::system::TParametersDouble &extra_params=mrpt::system::TParametersDouble(), FEEDBACK_CALLABLE functor_feedback=FEEDBACK_CALLABLE())
 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, std::vector< typename graphslam_traits< GRAPH_T >::Array_O > &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,
std::vector< typename graphslam_traits< GRAPH_T >::Array_O > &  errs 
)

Definition at line 154 of file levmarq_impl.h.

References MRPT_UNUSED_PARAM, mrpt::math::norm(), and mrpt::square().

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