Class OptimizationStateBuffer

Class Documentation

class map_optimization::OptimizationStateBuffer

Public Functions

void importStatesOfMissions(const vi_map::VIMap &map, const vi_map::MissionIdSet &mission_ids)
void copyAllStatesBackToMap(vi_map::VIMap *map) const
double *get_vertex_q_IM__M_p_MI_JPL(const pose_graph::VertexId &id)
double *get_baseframe_q_GM__G_p_GM_JPL(const vi_map::MissionBaseFrameId &id)
double *get_camera_extrinsics_q_CI__C_p_CI_JPL(const aslam::CameraId &id)
double *get_sensor_extrinsics_q_SB__S_p_SB_JPL(const aslam::SensorId &id)