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graphslam/include/mrpt/graphslam/types.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 #include <mrpt/poses/SE_traits.h>
14 #include <functional>
15 
16 namespace mrpt
17 {
18 /** SLAM methods related to graphs of pose constraints
19  * \sa mrpt::graphs::CNetworkOfPoses \ingroup mrpt_graphslam_grp
20  */
21 namespace graphslam
22 {
23 /** \addtogroup mrpt_graphslam_grp
24  * @{ */
25 
26 /** Auxiliary traits template for use among graph-slam problems to make life
27  * easier with these complicated, long data type names
28  * \tparam GRAPH_T This will typically be any
29  * mrpt::graphs::CNetworkOfPoses<...>
30  */
31 template <class GRAPH_T>
33 {
34  /** Typ: mrpt::graphs::CNetworkOfPoses<...> */
35  using graph_t = GRAPH_T;
37  using edge_t = typename graph_t::constraint_t;
38  using edge_poses_type = typename edge_t::type_value;
39  using SE_TYPE =
41  using matrix_VxV_t = typename SE_TYPE::matrix_VxV_t;
42  using Array_O = typename SE_TYPE::array_t; // An array of the correct size
43  // for an "observation" (i.e. a
44  // relative pose in an edge)
45  using TPairJacobs = std::pair<matrix_VxV_t, matrix_VxV_t>;
48 
49  /** Auxiliary struct used in graph-slam implementation: It holds the
50  * relevant information for each of the constraints being taking into
51  * account. */
53  {
55  // Data:
57  const typename gst::graph_t::constraint_t::type_value* edge_mean;
58  typename gst::graph_t::constraint_t::type_value *P1, *P2;
59  };
60 
61  using TFunctorFeedback = std::function<void(
62  const GRAPH_T& graph, const size_t iter, const size_t max_iter,
63  const double cur_sq_error)>;
64 };
65 
66 /** Output information for mrpt::graphslam::optimize_graph_spa_levmarq() */
68 {
69  /** The number of LM iterations executed. */
70  size_t num_iters;
71  /** The sum of all the squared errors for every constraint involved in the
72  * problem. */
74 };
75 
76 /** @} */ // end of grouping
77 
78 } // End of namespace
79 } // End of namespace
std::pair< matrix_VxV_t, matrix_VxV_t > TPairJacobs
size_t num_iters
The number of LM iterations executed.
typename graph_t::edges_map_t::const_iterator edge_const_iterator
std::multimap< KEY, VALUE, std::less< KEY >, mrpt::aligned_allocator_cpp11< std::pair< const KEY, VALUE > >> aligned_std_multimap
Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...
mrpt::aligned_std_multimap< mrpt::graphs::TPairNodeIDs, TPairJacobs > map_pairIDs_pairJacobs_t
Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::function< void(const GRAPH_T &graph, const size_t iter, const size_t max_iter, const double cur_sq_error)> TFunctorFeedback
A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobia...
Definition: SE_traits.h:29
Output information for mrpt::graphslam::optimize_graph_spa_levmarq()
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
const Scalar * const_iterator
Definition: eigen_plugins.h:27
double final_total_sq_error
The sum of all the squared errors for every constraint involved in the problem.
GRAPH_T graph_t
Typ: mrpt::graphs::CNetworkOfPoses<...>



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