InitializePose3.h File Reference

Initialize Pose3 in a factor graph. More...

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Namespaces
	gtsam
	Global functions in a separate testing namespace.

Typedefs
typedef std::map< Key, std::vector< size_t > >	gtsam::KeyVectorMap
typedef std::map< Key, Rot3 >	gtsam::KeyRotMap

Functions
GaussianFactorGraph	gtsam::InitializePose3::buildLinearOrientationGraph (const NonlinearFactorGraph &g)
Values	gtsam::InitializePose3::normalizeRelaxedRotations (const VectorValues &relaxedRot3)
Values	gtsam::InitializePose3::computeOrientationsChordal (const NonlinearFactorGraph &pose3Graph)
Values	gtsam::InitializePose3::computeOrientationsGradient (const NonlinearFactorGraph &pose3Graph, const Values &givenGuess, const size_t maxIter, const bool setRefFrame)
void	gtsam::InitializePose3::createSymbolicGraph (KeyVectorMap &adjEdgesMap, KeyRotMap &factorId2RotMap, const NonlinearFactorGraph &pose3Graph)
Vector3	gtsam::InitializePose3::gradientTron (const Rot3 &R1, const Rot3 &R2, const double a, const double b)
NonlinearFactorGraph	gtsam::InitializePose3::buildPose3graph (const NonlinearFactorGraph &graph)
Values	gtsam::InitializePose3::computePoses (NonlinearFactorGraph &pose3graph, Values &initialRot)
Values	gtsam::InitializePose3::initialize (const NonlinearFactorGraph &graph)
Values	gtsam::InitializePose3::initialize (const NonlinearFactorGraph &graph, const Values &givenGuess, bool useGradient)

Detailed Description

Initialize Pose3 in a factor graph.

Author

Luca Carlone

Frank Dellaert

Date

August, 2014

Function Documentation

GTSAM_EXPORT Values gtsam::InitializePose3::computePoses	(	NonlinearFactorGraph &	pose3graph,
		Values &	initialRot
	)

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