isam::OptimizationInterface Class Reference

#include <OptimizationInterface.h>

Inheritance diagram for isam::OptimizationInterface:

Collaboration diagram for isam::OptimizationInterface:

List of all members.

Public Member Functions
virtual SparseSystem	jacobian ()=0
virtual void	apply_exmap (const Eigen::VectorXd &delta)=0
virtual void	self_exmap (const Eigen::VectorXd &delta)=0
virtual void	estimate_to_linpoint ()=0
virtual void	linpoint_to_estimate ()=0
virtual void	swap_estimates ()=0
virtual Eigen::VectorXd	weighted_errors (Selector s=ESTIMATE)=0
Protected Attributes
SparseSystem	_R
Friends
class	Optimizer

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Detailed Description

Abstract base class providing an interface between the nonlinear system to be optimized (stored in the Nodes of the Graph constructed in the SLAM) and the Optimization class that actually performs the optimizations.

Definition at line 44 of file OptimizationInterface.h.

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Member Data Documentation

SparseSystem isam::OptimizationInterface::_R [protected]

Factored Jacobian about the current linearization point.

Definition at line 49 of file OptimizationInterface.h.

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

• include/isam/OptimizationInterface.h