Module pose_graph_optimization 

2D pose graph optimization with Gauss-Newton iteration.

The optimizer refines a set of initial poses from relative pose constraints represented as edges in an SE(2) graph.

Reference:

• Giorgio Grisetti, Rainer Kümmerle, Cyrill Stachniss, Wolfram Burgard, “A Tutorial on Graph-Based SLAM”: https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/grisetti10titsmag.pdf

Structs

Edge2D

A relative pose constraint between two nodes.

Pose2DNode

A 2D pose node.

PoseGraphConfig

Configuration for pose graph optimization.

PoseGraphResult

Optimization result.

Functions

optimize_pose_graph

Optimizes a 2D pose graph using Gauss-Newton iteration.