#include <body2dslam.h>
Collaboration diagram for gcop::Body2dSlam:
Public Member Functions | |
| Body2dSlam (Body2dGraph &pg) | |
Public Attributes | |
| Body2dGraph & | pg |
| pose graph | |
| Body2dSlamCost | cost |
| cost function | |
| PDdp< Body2dState, 6, 3 > * | pddp |
| parametric discrete-mechanics optimal control | |
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.
Constructor & Destructor Documentation
| Body2dSlam::Body2dSlam | ( | Body2dGraph & | pg | ) |
SLAM, global map iterative optimization
- Parameters:
-
pg pose-graph
References cost, gcop::Body2dGraph::extforce, gcop::Body2dGraph::p, pddp, gcop::Body2dGraph::sys, gcop::Body2dGraph::ts, gcop::Body2dGraph::us, and gcop::Body2dGraph::xs.
Member Data Documentation
cost function
Referenced by Body2dSlam().
| PDdp<Body2dState, 6, 3>* gcop::Body2dSlam::pddp |
parametric discrete-mechanics optimal control
Referenced by Body2dSlam().
pose graph
The documentation for this class was generated from the following files:
- lib/algos/body2dslam.h
- lib/algos/body2dslam.cc
