#include <batch_optimizer.h>

Public Member Functions
void	AddSensor (sensors::Sensor *sensor, bool take_ownership=true)

void	AddWorldModel (WorldModel *world_model, bool take_ownership=true)

void	AddTrajectory (Trajectory *trajectory_world_sensorrig, bool take_ownership=true)

absl::StatusOr< ceres::Solver::Summary >	Optimize (const ceres::Solver::Options &options=DefaultSolverOptions())

Detailed Description

Batch optimizer class. Takes Sensor, WorldModel, and Trajectory objects and adds their parameters to a least-squares optimization problem. Sensor classes also contribute residuals which are functions of WorldModel and Trajectory.

Member Function Documentation

◆ AddSensor()

void calico::BatchOptimizer::AddSensor	(	sensors::Sensor *	sensor,
		bool	take_ownership = `true`
	)

Add a sensor to the optimizer. sensor is a raw pointer, and by default, BatchOptimizer will take ownership of that pointer, so there is no need to de-allocate once BatchOptimizer goes out of scope.

NOTE: If this pointer is owned by a smart pointer or must persist out of the BatchOptimizer scope, pass in take_ownership=false.

◆ AddTrajectory()

void calico::BatchOptimizer::AddTrajectory	(	Trajectory *	trajectory_world_sensorrig,
		bool	take_ownership = `true`
	)

Add a Trajectory to the optimizer. trajectory_world_sensorrig is a raw pointer, and by default, BatchOptimizer will take ownership of that pointer, so there is no need to de-allocate once BatchOptimizer goes out of scope.

NOTE: If this pointer is owned by a smart pointer or must persist out of the BatchOptimizer scope, pass in take_ownership=false.

trajectory_world_sensorrig is the time-parameterized pose of the sensor rig w.r.t. the world origin resolved in the world frame

\[ \mathbf{T}^w_r(t) = \left[\begin{matrix}\mathbf{R}^w_r & \mathbf{t}^w_{wr} \\\mathbf{0}&1\end{matrix}\right] \]

.

◆ AddWorldModel()

void calico::BatchOptimizer::AddWorldModel	(	WorldModel *	world_model,
		bool	take_ownership = `true`
	)

Add a WorldModel to the optimizer. world_model is a raw pointer, and by default, BatchOptimizer will take ownership of that pointer, so there is no need to de-allocate once BatchOptimizer goes out of scope.

NOTE: If this pointer is owned by a smart pointer or must persist out of the BatchOptimizer scope, pass in take_ownership=false.

◆ Optimize()

absl::StatusOr< ceres::Solver::Summary > calico::BatchOptimizer::Optimize ( const ceres::Solver::Options & options = DefaultSolverOptions() )

Run the optimization with solver options. By default, options is DefaultSolverOptions().

options is an unmodified ceres::Solver::Options object. Click the link to see all configurable options.

The documentation for this class was generated from the following files: