#include <mrpt/graphslam/types.h>
#include <mrpt/utils/TParameters.h>
#include <mrpt/utils/stl_containers_utils.h>
#include <mrpt/graphslam/levmarq_impl.h>
#include <iterator>
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Namespaces | |
namespace | mrpt |
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. | |
namespace | mrpt::graphslam |
SLAM methods related to graphs of pose constraints. | |
Functions | |
template<class GRAPH_T > | |
void | mrpt::graphslam::optimize_graph_spa_levmarq (GRAPH_T &graph, TResultInfoSpaLevMarq &out_info, const std::set< mrpt::utils::TNodeID > *in_nodes_to_optimize=NULL, const mrpt::utils::TParametersDouble &extra_params=mrpt::utils::TParametersDouble(), typename graphslam_traits< GRAPH_T >::TFunctorFeedback functor_feedback=NULL) |
Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquardt optimizer. | |
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