slam2d_linear.cpp File Reference

#include "solver_slam2d_linear.h"
#include "g2o/solvers/csparse/linear_solver_csparse.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver.h"
#include "g2o/core/optimization_algorithm_factory.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/optimization_algorithm.h"
#include "g2o/stuff/macros.h"

Include dependency graph for slam2d_linear.cpp:

Go to the source code of this file.

Classes
class	g2o::SLAM2DLinearSolverCreator

Namespaces
	g2o

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

Functions
static OptimizationAlgorithm *	g2o::createSolver (const std::string &fullSolverName)
	g2o::G2O_REGISTER_OPTIMIZATION_LIBRARY (slam2d_linear)
	g2o::G2O_REGISTER_OPTIMIZATION_ALGORITHM (2dlinear, new SLAM2DLinearSolverCreator(OptimizationAlgorithmProperty("2dlinear","Solve Orientation + Gauss-Newton: Works only on 2D pose graphs!!","CSparse", false, 3, 3)))

Macro Definition Documentation

#define ALLOC_CSPARSE	(		s,
			p,
			l,
			blockorder
	)

Value:

if (1) { \
    std::cerr << "# Using CSparse poseDim " << p << " landMarkDim " << l << " blockordering " << blockorder << std::endl; \
    LinearSolverCSparse< DIM_TO_SOLVER(p, l)::PoseMatrixType >* linearSolver = new LinearSolverCSparse<DIM_TO_SOLVER(p, l)::PoseMatrixType>(); \
    linearSolver->setBlockOrdering(blockorder); \
    s = new DIM_TO_SOLVER(p, l)(linearSolver); \
  } else (void)0

Definition at line 41 of file slam2d_linear.cpp.

Referenced by g2o::createSolver().

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

Definition at line 39 of file slam2d_linear.cpp.