g2o
closed_form_calibration.h
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1 // g2o - General Graph Optimization
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26 
27 #ifndef G2O_CLOSED_FORM_CALIBRATION_H
28 #define G2O_CLOSED_FORM_CALIBRATION_H
29 
30 #include <Eigen/Core>
31 #include "motion_information.h"
33 
34 namespace g2o {
35 
45  {
46  public:
47  static bool calibrate(const MotionInformationVector& measurements, SE2& laserOffset, Eigen::Vector3d& odomParams);
48 
49  protected:
50  static Eigen::VectorXd solveLagrange(const Eigen::Matrix<double,5,5>& M, double lambda);
51  };
52 
53 } // end namespace
54 
55 #endif
#define G2O_CALIBRATION_ODOM_LASER_API
represent SE2
Definition: se2.h:40
std::vector< MotionInformation, Eigen::aligned_allocator< MotionInformation > > MotionInformationVector
Simultaneous calibration of the laser offest and the parameters of a differential drive...