template class mrpt::graphslam::optimizers::CLevMarqGSO
Levenberg-Marquardt non-linear graph slam optimization scheme.
#include <mrpt/graphslam/GSO/CLevMarqGSO.h> template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf> class CLevMarqGSO: public mrpt::graphslam::optimizers::CGraphSlamOptimizer { public: // typedefs typedef typename GRAPH_T::constraint_t constraint_t; typedef typename GRAPH_T::constraint_t::type_value pose_t; typedef mrpt::math::CMatrixFixed<double, constraint_t::state_length, constraint_t::state_length> InfMat; typedef mrpt::graphslam::CRegistrationDeciderOrOptimizer<GRAPH_T> grandpa; typedef mrpt::graphslam::optimizers::CGraphSlamOptimizer<GRAPH_T> parent; // structs struct GraphVisualizationParams; struct OptimizationParams; // fields OptimizationParams opt_params; GraphVisualizationParams viz_params; // construction CLevMarqGSO(); // methods virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation); virtual void initializeVisuals(); virtual void updateVisuals(); virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred); virtual void loadParams(const std::string& source_fname); void printParams() const; virtual void getDescriptiveReport(std::string* report_str) const; bool justFullyOptimizedGraph() const; };
Inherited Members
public: // typedefs typedef typename GRAPH_t::constraint_t constraint_t; typedef typename GRAPH_t::constraint_t::type_value pose_t; // structs struct TMsg; // methods virtual void setClassName(const std::string& name); bool isMultiRobotSlamClass(); std::string getClassName() const;
Typedefs
typedef typename GRAPH_T::constraint_t constraint_t
Handy typedefs.
typedef typename GRAPH_T::constraint_t::type_value pose_t
type of underlying poses (2D/3D)
Fields
OptimizationParams opt_params
Parameters relevant to the optimizatio nfo the graph.
GraphVisualizationParams viz_params
Parameters relevant to the visualization of the graph.
Methods
virtual bool updateState(mrpt::obs::CActionCollection::Ptr action, mrpt::obs::CSensoryFrame::Ptr observations, mrpt::obs::CObservation::Ptr observation)
Generic method for fetching the incremental action-observations (or observation-only) measurements.
Returns:
True if operation was successful. Criteria for Success depend on the decider/optimizer implementing this method
virtual void initializeVisuals()
Initialize visual objects in CDisplayWindow (e.g.
add an object to scene).
Parameters:
std::exception |
If the method is called without having first provided a CDisplayWindow3D* to the class instance |
See also:
setWindowManagerPtr, updateVisuals
virtual void updateVisuals()
Update the relevant visual features in CDisplayWindow.
Parameters:
std::exception |
If the method is called without having first provided a CDisplayWindow3D* to the class instance |
See also:
setWindowManagerPtr, initializeVisuals
virtual void notifyOfWindowEvents(const std::map<std::string, bool>& events_occurred)
Get a list of the window events that happened since the last call.
virtual void loadParams(const std::string& source_fname)
Load the necessary for the decider/optimizer configuration parameters.
virtual void getDescriptiveReport(std::string* report_str) const
Fill the provided string with a detailed report of the decider/optimizer state.
Report should include (part of) the following:
Timing of important methods
Properties fo class at the current time
Logging of commands until current time