Method PoseGraph

pose_graph/src/pose_graph/PoseGraph.cpp:15–27

#include "pose_graph/Pose3DError.h"

PoseGraph::PoseGraph() {
  earliest_loop_index = -1;
  t_drift = Eigen::Vector3d(0, 0, 0);
  yaw_drift = 0;
  r_drift = Eigen::Matrix3d::Identity();
  w_t_svin = Eigen::Vector3d(0, 0, 0);
  w_r_svin = Eigen::Matrix3d::Identity();
  global_index = 0;
  sequence_cnt = 0;
  sequence_loop.push_back(0);
  base_sequence = 1;
  is_fast_localization_ = true;
}

PoseGraph::~PoseGraph() { t_optimization.join(); }