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

*/ * update the set of inliers to be outputted */

*/ * pairwise loop consistency check specialized to the PoseWithCovariance class * TODO: delete this function, rename checkOdomConsistent to * c

*/ * odometry consistency check specialized to the PoseWithCovariance class */

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

*/ * Based on adjacency matrices, call maxclique to extract inliers */

*/ * TODO Incremental maxclique */

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

! \brief Get the vector of currently ignored prefixes */

! \brief Get the vector of currently ignored prefixes */

TODO(yun) this seg faults we disable outlier removal

* get the odometry poses of a robot as values, apply by some transform if * desired */

! \brief bias the initialization on the odometry. i.e. initialize loop * closures as outliers */

! \brief at each gnc iteration, previously detected inliers are not * reconsidered as possible outliers */

* GNC Pose Averaging */

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

*/ * augment adjacency matrix with an extra (pose-pose) loop closure */

*/ * augment adjacency matrix for a landmark loop closure */

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

*/ * general interface for odometry consistency check (both PCM and distance * version) */

check if a character is a special symbol as defined in constructor (typically these are the landmarks)

! \brief Set log folder */

* Log spin status (timing, number of loop closures, number of inliers) */

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* use GNC pose averaging to estimate transforms between frames of the robots * and update the initial values */

! \brief goes through the loop closures and updates the corresponding * adjacency matrices, in preparation for max clique */

! \brief Remove last measured loop closure */

! \brief remove the last loop closure based on observation ID * and update the factors. * For example if Observation id is Obsid('a','c'), metho

! \brief Remove prior factors of nodes with prefix prefix */

! \brief remove the prior factors of nodes that given prefix */

! \brief add back all loop closures that involves certain prefix * Basically undos ignore */

* Save adjacency matrix to ObservationId_adj_matrix.txt */

! \brief Save any data in the outlier removal process * - folder_path: path to directory to save results in */

! \brief save the PCM data * saves the distance matrix (final) and also the clique size info * - folder_path: path to directory to save result

! \brief set probability for GNC-based multi-robot alignment */

! \brief 2D version of Pcm * This one looks at Mahalanobis distance * odomThreshold: max allowable M distance deviation from odometry * lcThr

! \brief Supressing the print messages to console */

*/ update the odometry: add new measurements to odometry trajectory tree