Class LoopClosureEdge¶

Defined in File loopclosure-edge.h

Inheritance Relationships¶

Base Type¶

public vi_map::Edge (Class Edge)

Class Documentation¶

class vi_map::LoopClosureEdge : public vi_map::Edge ¶

Public Functions

LoopClosureEdge()¶

LoopClosureEdge(const LoopClosureEdge&) = default¶

LoopClosureEdge(const pose_graph::EdgeId &id, const pose_graph::VertexId &from, const pose_graph::VertexId &to, const double switch_variable, const double switch_variable_variance, const pose::Transformation &T_A_B, const Eigen::Matrix<double, 6, 6> &T_A_B_covariance)¶

inline virtual ~LoopClosureEdge()¶

void serialize(vi_map::proto::LoopclosureEdge *proto) const¶

void deserialize(const pose_graph::EdgeId &id, const vi_map::proto::LoopclosureEdge &proto)¶

inline virtual bool operator==(const LoopClosureEdge &other) const¶

inline void setSwitchVariable(double switch_variable)¶

inline double getSwitchVariable() const¶

inline double getSwitchVariableVariance() const¶

inline void setSwitchVariableVariance(const double switch_variable_variance)¶

inline double *getSwitchVariableMutable()¶

void set_T_A_B(const pose::Transformation &T_A_B)¶

const pose::Transformation &get_T_A_B() const¶

void set_T_A_B_Covariance(const Eigen::Matrix<double, 6, 6> &T_A_B_covariance)¶

const Eigen::Matrix<double, 6, 6> &get_T_A_B_Covariance() const¶

Public Members

LoopClosureEdge