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31 template <
class GRAPH_T>
37 using edge_t =
typename graph_t::constraint_t;
42 using Array_O =
typename SE_TYPE::array_t;
57 const typename gst::graph_t::constraint_t::type_value*
edge_mean;
58 typename gst::graph_t::constraint_t::type_value *
P1, *
P2;
62 const GRAPH_T& graph,
const size_t iter,
const size_t max_iter,
63 const double cur_sq_error)>;
typename SE_TYPE::array_t Array_O
const Scalar * const_iterator
typename edge_t::type_value edge_poses_type
mrpt::aligned_std_multimap< mrpt::graphs::TPairNodeIDs, TPairJacobs > map_pairIDs_pairJacobs_t
Output information for mrpt::graphslam::optimize_graph_spa_levmarq()
gst::graph_t::constraint_t::type_value * P2
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
size_t num_iters
The number of LM iterations executed.
typename SE_TYPE::matrix_VxV_t matrix_VxV_t
A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobia...
typename graph_t::constraint_t edge_t
double final_total_sq_error
The sum of all the squared errors for every constraint involved in the problem.
std::function< void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)> TFunctorFeedback
std::multimap< KEY, VALUE, std::less< KEY >, mrpt::aligned_allocator_cpp11< std::pair< const KEY, VALUE > >> aligned_std_multimap
const gst::graph_t::constraint_t::type_value * edge_mean
GRAPH_T graph_t
Typ: mrpt::graphs::CNetworkOfPoses<...>
std::pair< matrix_VxV_t, matrix_VxV_t > TPairJacobs
Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...
gst::graph_t::constraint_t::type_value * P1
typename graph_t::edges_map_t::const_iterator edge_const_iterator
gst::edge_const_iterator edge
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
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