package

SLAM.PoseGraph

Pose-graph optimization, gauge handling and estimator commits

Measured relative constraints

ModelicaPoseGraph optimizes node poses from measured translation/rotation edges and 6 by 6 information matrices. Masks select active nodes and edges; fixed capacities and iteration limits bound storage and requested work.

A relative graph has gauge freedom. A chosen anchor fixes coordinates rather than supplying an extra physical observation. Keep gauge treatment separate from uncertainty claims; see GraphGaugeUncertainty.

Inspect status and cost before accepting a candidate. Publishing a graph correction into an estimator also requires consistent landmark anchors and reference uncertainty; the RGBDGraphEstimatorCommit boundary makes that handoff explicit. Optimizer convergence alone does not qualify an estimator reset.

Members

Name	Kind	Description
GraphGaugeUncertainty	package
ModelicaPoseGraph	model
ModelicaPoseGraphCovariance	package
ModelicaPoseGraphEdge	model
OptimizeModelicaPoseGraph	function
PGCholesky	function
PGDampedFactor	function
PGDot	function
PGEdge	function
PGEdgeDiagnostics	function
PGExp	function
PGGraphCost	function
PGLinearize	function
PGLog	function
PGMatVec	function
PGMultiply	function
PGNormalProduct	function
PGPCG	function
PGPrecondition	function
PGProperRotation	function
PGRetract	function
PGRun	function
PGSkew	function
PGSolveBlock	function
PGStep	function
PGTranspose	function
PGValidateGraph	function
RGBDCatalogGraphCapture	package
RGBDGraphAnchorBound	package
RGBDGraphCaptureLedger	package
RGBDGraphEstimatorCommit	package
RGBDGraphMeasurements	package
RGBDGraphProcessing	package
RGBDGraphSelectedGauge	package

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

package PoseGraph
  "Pose-graph optimization, gauge handling and estimator commits"
  annotation(Documentation(info = "<html>
    <h4>Measured relative constraints</h4>
<p><a href=\"modelica://SLAM.PoseGraph.ModelicaPoseGraph\">ModelicaPoseGraph</a>
optimizes node poses from measured translation/rotation edges and 6 by 6
information matrices. Masks select active nodes and edges; fixed capacities
and iteration limits bound storage and requested work.</p>
<p>A relative graph has gauge freedom. A chosen anchor fixes coordinates rather
than supplying an extra physical observation. Keep gauge treatment separate
from uncertainty claims; see
<a href=\"modelica://SLAM.PoseGraph.GraphGaugeUncertainty\">GraphGaugeUncertainty</a>.</p>
<p>Inspect status and cost before accepting a candidate. Publishing a graph
correction into an estimator also requires consistent landmark anchors and
reference uncertainty; the
<a href=\"modelica://SLAM.PoseGraph.RGBDGraphEstimatorCommit\">RGBDGraphEstimatorCommit</a>
boundary makes that handoff explicit. Optimizer convergence alone does not
qualify an estimator reset.</p>
    </html>"));
end PoseGraph;