graph_optimizer_sparse_online.cpp File Reference

#include "types_slam2d_online.h"
#include "types_slam3d_online.h"
#include "graph_optimizer_sparse_online.h"
#include "g2o/stuff/macros.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/optimization_algorithm_factory.h"
#include "g2o/core/optimization_algorithm_gauss_newton.h"
#include "g2o/solvers/pcg/linear_solver_pcg.h"
#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#include <iostream>
#include <iomanip>
#include <fstream>

Include dependency graph for graph_optimizer_sparse_online.cpp:

Go to the source code of this file.

Namespaces
	g2o

Macros
#define	DIM_TO_SOLVER(p, l)   BlockSolver< BlockSolverTraits<p, l> >
#define	ALLOC_PCG(s, p, l)

Functions
	g2o::G2O_USE_OPTIMIZATION_LIBRARY (cholmod)
static Solver *	g2o::createSolver (const std::string &solverName)

Macro Definition Documentation

#define ALLOC_PCG	(		s,
			p,
			l
	)

Value:

if (1) { \
    std::cerr << "# Using PCG online poseDim " << p << " landMarkDim " << l << " blockordering 1" << std::endl; \
    LinearSolverPCG< DIM_TO_SOLVER(p, l)::PoseMatrixType >* linearSolver = new LinearSolverPCG<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
    linearSolver->setMaxIterations(6); \
    s = new DIM_TO_SOLVER(p, l)(linearSolver); \
  } else (void)0

Definition at line 49 of file graph_optimizer_sparse_online.cpp.

Referenced by g2o::createSolver().

#define DIM_TO_SOLVER	(		p,
			l
	)		BlockSolver< BlockSolverTraits<p, l> >

Definition at line 47 of file graph_optimizer_sparse_online.cpp.