interface for communicating with the SLAM algorithm More...

Inheritance diagram for SlamParser::AbstractSlamInterface:

Public Member Functions
virtual bool	addNode (const std::string &tag, int id, int dimension, const std::vector< double > &values)=0

virtual bool	addEdge (const std::string &tag, int id, int dimension, int v1, int v2, const std::vector< double > &measurement, const std::vector< double > &information)=0

virtual bool	fixNode (const std::vector< int > &nodes)=0

virtual bool	queryState (const std::vector< int > &nodes)=0

virtual bool	solveState ()=0

Detailed Description

interface for communicating with the SLAM algorithm

This interface allows the parser to communicate with the SLAM algorithm.

Definition at line 40 of file abstract_slam_interface.h.

Member Function Documentation

virtual bool SlamParser::AbstractSlamInterface::addEdge	(	const std::string &	tag,
		int	id,
		int	dimension,
		int	v1,
		int	v2,
		const std::vector< double > &	measurement,
		const std::vector< double > &	information
	)

pure virtual

adding an edge to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the edge.
dimension	the dimension of the edge.
v1	the unique id of the edge of the first vertex
v2	the unique id of the edge of the second vertex
measurement	the measurement of the constraint
information	the information matrix (inverse of the covariance) representing the uncertainty of the measurement (row-major upper triangular and diagonal)

virtual bool SlamParser::AbstractSlamInterface::addNode	(	const std::string &	tag,
		int	id,
		int	dimension,
		const std::vector< double > &	values
	)

pure virtual

adding a node to the SLAM engine.

Parameters

tag	the tag specifying the type of the vertex
id	the unique id of the node.
dimension	the dimension of the node.
values	the pose of the node, may be empty (i.e., the engine should initialize the node itself)