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.