template class mrpt::graphslam::optimizers::CGraphSlamOptimizer

Interface for implementing graphSLAM optimizer classes.

Class should provide a generic interface from which real optimizers should inherit so that they abide to the necessary method calls used in the CGraphSlamEngine class. For an example of inheriting from this class see CLevMarqGSO.

As a naming convention, all the implemented graphslam optimizer classes are suffixed with the GSO acronym.

#include <mrpt/graphslam/interfaces/CGraphSlamOptimizer.h>

template <class GRAPH_t = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CGraphSlamOptimizer: public mrpt::graphslam::CRegistrationDeciderOrOptimizer
    // typedefs

    typedef typename GRAPH_t::constraint_t constraint_t;
    typedef typename GRAPH_t::constraint_t::type_value pose_t;

// direct descendants

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CEmptyGSO;

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CLevMarqGSO;

Inherited Members

    // structs

    struct TMsg;


    virtual void setClassName(const std::string& name);
    bool isMultiRobotSlamClass();
    std::string getClassName() const;