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constrained_pose_network.h File Reference

#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/math/graphs.h>

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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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