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<li class="navelem"><a class="el" href="namespacemrpt_1_1graphslam.html">graphslam</a> </li>
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<div class="title">mrpt::graphslam Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__graphslam__grp.html">[mrpt-graphslam]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>SLAM methods related to graphs of pose constraints. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses.html" title="A directed graph of pose constraints, with edges being the relative pose between pairs of nodes inden...">mrpt::graphs::CNetworkOfPoses</a> </dd></dl>
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Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1graphslam_1_1detail.html">detail</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Internal auxiliary classes. </p>
<br/></td></tr>
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary traits template for use among graph-slam problems to make life easier with these complicated, long data type names. <a href="structmrpt_1_1graphslam_1_1graphslam__traits.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html">TResultInfoSpaLevMarq</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Output information for <a class="el" href="group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66" title="Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and...">mrpt::graphslam::optimize_graph_spa_levmarq()</a> <a href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class GRAPH_T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66">optimize_graph_spa_levmarq</a> (GRAPH_T &graph, <a class="el" href="structmrpt_1_1graphslam_1_1_t_result_info_spa_lev_marq.html">TResultInfoSpaLevMarq</a> &out_info, const <a class="el" href="classstd_1_1set.html">std::set</a>< <a class="el" href="namespacemrpt_1_1utils.html#a718b4f99645b7e9f6501c9b7bb2a2fe7">mrpt::utils::TNodeID</a> > *in_nodes_to_optimize=NULL, const <a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a> &extra_params=<a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a>(), typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::TFunctorFeedback functor_feedback=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Optimize a graph of pose constraints using the Sparse Pose Adjustment (SPA) sparse representation and a Levenberg-Marquartd optimizer. <a href="group__mrpt__graphslam__grp.html#ga022f4a70be5ec7c432f46374e4bb9d66"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class GRAPH_T > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">double </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1graphslam.html#a3cfdce22aa190f9b07da5683be81d04d">computeJacobiansAndErrors</a> (const GRAPH_T &graph, const <a class="el" href="classstd_1_1vector.html">vector</a>< typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::observation_info_t > &lstObservationData, typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::map_pairIDs_pairJacobs_t &lstJacobians, typename <a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a>< typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::Array_O >::vector_t &errs)</td></tr>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="a3cfdce22aa190f9b07da5683be81d04d"></a><!-- doxytag: member="mrpt::graphslam::computeJacobiansAndErrors" ref="a3cfdce22aa190f9b07da5683be81d04d" args="(const GRAPH_T &graph, const vector< typename graphslam_traits< GRAPH_T >::observation_info_t > &lstObservationData, typename graphslam_traits< GRAPH_T >::map_pairIDs_pairJacobs_t &lstJacobians, typename mrpt::aligned_containers< typename graphslam_traits< GRAPH_T >::Array_O >::vector_t &errs)" -->
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template<class GRAPH_T > </div>
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<td class="memname">double mrpt::graphslam::computeJacobiansAndErrors </td>
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<td class="paramtype">const GRAPH_T & </td>
<td class="paramname"><em>graph</em>, </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">vector</a>< typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::observation_info_t > & </td>
<td class="paramname"><em>lstObservationData</em>, </td>
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<td class="paramtype">typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::map_pairIDs_pairJacobs_t & </td>
<td class="paramname"><em>lstJacobians</em>, </td>
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<td class="paramtype">typename <a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a>< typename <a class="el" href="structmrpt_1_1graphslam_1_1graphslam__traits.html">graphslam_traits</a>< GRAPH_T >::Array_O >::vector_t & </td>
<td class="paramname"><em>errs</em> </td>
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<td>)</td>
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<p>Definition at line <a class="el" href="levmarq__impl_8h_source.html#l00131">131</a> of file <a class="el" href="levmarq__impl_8h_source.html">levmarq_impl.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00057">mrpt::poses::UNINITIALIZED_POSE</a>.</p>
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