#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/math/graphs.h>
Go to the source code of this file.
Classes | |
class | mrpt::poses::CNetworkOfPoses< CPOSE > |
A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t). More... | |
Namespaces | |
namespace | mrpt |
This is the global namespace for all Mobile Robot Porgramming Toolkit (MRPT) libraries. | |
namespace | mrpt::poses |
Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms. | |
Typedefs | |
typedef CNetworkOfPoses < CPosePDFGaussian > | mrpt::poses::CNetworkOfPoses2D |
The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian. | |
typedef CNetworkOfPoses < CPose3DPDFGaussian > | mrpt::poses::CNetworkOfPoses3D |
The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian. | |
Functions | |
template<class CPOSE > | |
double MRPTDLLIMPEXP | mrpt::poses::optimizePoseGraph_levmarq (const CNetworkOfPoses< CPOSE > &pose_graph, std::map< size_t, CPOSE > &optimal_poses, const size_t max_iterations=100, const size_t origin_pose=static_cast< size_t >(-1)) |
An algorithm for optimizing a network of 2D or 3D pose links based on Levenberg-Marquardt error minimization. | |
template<class CPOSE > | |
double MRPTDLLIMPEXP | mrpt::poses::optimizePoseGraph_stogradesc (const CNetworkOfPoses< CPOSE > &pose_graph, std::map< size_t, CPOSE > &optimal_poses, const size_t max_iterations=100, const size_t origin_pose=static_cast< size_t >(-1)) |
An algorithm for optimizing a network of 2D or 3D pose links based on stochastic gradient descent. |
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