closed_form_calibration.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G.Grisetti, W. Burgard
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are
// met:
//
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//   this list of conditions and the following disclaimer.
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#ifndef G2O_CLOSED_FORM_CALIBRATION_H
#define G2O_CLOSED_FORM_CALIBRATION_H

#include <Eigen/Core>
#include "motion_information.h"
#include "g2o_calibration_odom_laser_api.h"

namespace g2o {

  class G2O_CALIBRATION_ODOM_LASER_API ClosedFormCalibration
  {
    public:
      static bool calibrate(const MotionInformationVector& measurements, SE2& laserOffset, Eigen::Vector3d& odomParams);

    protected:
      static Eigen::VectorXd solveLagrange(const Eigen::Matrix<double,5,5>& M, double lambda);
  };

} // end namespace

#endif