gcop::Ba Class Reference

#include <ba.h>

Collaboration diagram for gcop::Ba:

List of all members.

Public Member Functions
	Ba (Posegraph2d &pg)
Public Attributes
Posegraph2d &	pg
	pose graph
Kinbody2d	sys
	system
BaCost	cost
	cost function
PDdp< Matrix3d, 3, 3 >	pddp
	parametric discrete-mechanics optimal control

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Detailed Description

Bundle adjustment based on optimal-control. This is a basic version using a kinematic model in SE(2). It is possible to plug-in any dynamical model without much overhead.

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Constructor & Destructor Documentation

Ba::Ba

(

Posegraph2d &

pg

)

Bundle adjustment of pose-graph pg

Parameters:

pg	pose-graph

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Member Data Documentation

BaCost gcop::Ba::cost

cost function

PDdp<Matrix3d, 3, 3> gcop::Ba::pddp

parametric discrete-mechanics optimal control

Posegraph2d& gcop::Ba::pg

pose graph

Kinbody2d gcop::Ba::sys

system

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The documentation for this class was generated from the following files:

• lib/algos/ba.h
• lib/algos/ba.cc