! \brief Process new measurements and reject outliers * process the new measurements and update the "good set" of measurements * - new_factors

method to combine two poses (along with their node numbers) */ ---------------------------------------------------------- */

method to invert a pose along with its covariance -------- */ ---------------------------------------------------------- */

! \brief 3D version of Pcm * This one looks at Mahalanobis distance * odomThreshold: max allowable M distance deviation from odometry * lcThr

! \brief get weights from GNC to check the inliers / outliers */

! \brief 3D version of PcmSimple * This one looks at average translation and rotation error per node * transThreshold: Estimated max drift in tr

method to find the transform between two poses ------------ */ ----------------------------------------------------------- */

\brief Get transform (along with node number and covariance) * between two keys in trajectory * from key_a to key_b */

! \brief For RobustSolver to not do outlier rejection at all */

! \brief one way of setting GNC parameters (cost threshold + others) */

! \brief one way of setting GNC parameters (confidence threshold + others) */

! \brief set folder to log data */

! \brief use multirobot frame alignment for initialization */

! \brief 2D version of PcmSimple * This one looks at average translation and rotation error per node * transThreshold: Estimated max drift in tr

TODO

! \brief Ignore all loop closures that involves certain prefix */

Algorithm 1: MAXCLIQUE: Finds maximum clique of the given graph */

Algorithm 2: CLIQUE: Recursive Subroutine of algorithm 1. */

Algorithm 2: MaxCliqueHeu: A heuristic to find maximum clique */

! \brief Undo ignoreLoopClosureWithPrefix */

! \brief use incremental max clique */

! \brief toggle diagonal damping * diagonal_damping: use diagonal damping (bool) */

default constructor -------------------------------------- */

default constructor -------------------------------------- */

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*/ * general interface for loop consistency check (both PCM and distance * version) inputs are 2 loop closures (a,b) and (c,d), where a,b,c,d are k