sclam_helpers.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_SCLAM_HELPERS_H
#define G2O_SCLAM_HELPERS_H

#include "g2o_calibration_odom_laser_api.h"

namespace g2o {

  class SparseOptimizer;
  class DataQueue;

  G2O_CALIBRATION_ODOM_LASER_API void addOdometryCalibLinksDifferential(SparseOptimizer& optimizer, const DataQueue& odomData);

  G2O_CALIBRATION_ODOM_LASER_API void allocateSolverForSclam(SparseOptimizer& optimizer, bool levenberg = false);

} // end namespace

#endif