srba::RBA_OPTIONS_DEFAULT Struct Reference

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Detailed Description

The set of default settings for RbaEngine. Use it to inherit your custom RBA_OPTIONS struct (see docs and examples). Expected types:

• kf2kf_pose_t The parameterization of keyframe-to-keyframe relative poses (edges, problem unknowns).
• landmark_t The parameterization of relative positions of landmarks relative poses (edges).
• obs_t The type of observations.

Definition at line 39 of file RbaEngine.h.

#include <RbaEngine.h>

Inheritance diagram for srba::RBA_OPTIONS_DEFAULT:

List of all members.

Public Types
typedef ecps::local_areas_fixed_size	edge_creation_policy_t
	One of the most important choices: how to construct the relative coordinates graph problem.
typedef options::sensor_pose_on_robot_none	sensor_pose_on_robot_t
	The sensor pose coincides with the robot pose.
typedef options::observation_noise_identity	obs_noise_matrix_t
	The sensor noise matrix is the same for all observations and equal to * I(identity)
typedef options::solver_LM_schur_dense_cholesky	solver_t
	Solver algorithm (Default: Lev-Marq, with Schur, with dense Cholesky)

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The documentation for this struct was generated from the following file:

• srba/RbaEngine.h