graphslam package

Subpackages

• graphslam.edge package
  • Submodules
    • graphslam.edge.base_edge module
      • BaseEdge
    • graphslam.edge.edge_landmark module
      • EdgeLandmark
    • graphslam.edge.edge_odometry module
      • EdgeOdometry
  • Module contents
• graphslam.pose package
  • Submodules
    • graphslam.pose.base_pose module
      • BasePose
    • graphslam.pose.r2 module
      • PoseR2
    • graphslam.pose.r3 module
      • PoseR3
    • graphslam.pose.se2 module
      • PoseSE2
    • graphslam.pose.se3 module
      • PoseSE3
  • Module contents

Submodules

• graphslam.g2o_parameters module
  • BaseG2OParameter
    • BaseG2OParameter.key
    • BaseG2OParameter.value
    • BaseG2OParameter._abc_impl
    • BaseG2OParameter.from_g2o()
    • BaseG2OParameter.to_g2o()
  • G2OParameterSE2Offset
    • G2OParameterSE2Offset.key
    • G2OParameterSE2Offset.value
    • G2OParameterSE2Offset._abc_impl
    • G2OParameterSE2Offset.from_g2o()
    • G2OParameterSE2Offset.to_g2o()
  • G2OParameterSE3Offset
    • G2OParameterSE3Offset.key
    • G2OParameterSE3Offset.value
    • G2OParameterSE3Offset._abc_impl
    • G2OParameterSE3Offset.from_g2o()
    • G2OParameterSE3Offset.to_g2o()
• graphslam.graph module
  • Graph
    • Graph._chi2
    • Graph._edges
    • Graph._fixed_gradient_indices
    • Graph._g2o_params
    • Graph._gradient
    • Graph._hessian
    • Graph._len_gradient
    • Graph._vertices
    • Graph._calc_chi2_gradient_hessian()
    • Graph._initialize()
    • Graph.calc_chi2()
    • Graph.equals()
    • Graph.from_g2o()
    • Graph.optimize()
    • Graph.plot()
    • Graph.to_g2o()
  • OptimizationResult
    • OptimizationResult.converged
    • OptimizationResult.duration_s
    • OptimizationResult.final_chi2
    • OptimizationResult.initial_chi2
    • OptimizationResult.iteration_results
    • OptimizationResult.num_iterations
    • OptimizationResult.IterationResult
      • OptimizationResult.IterationResult.calc_chi2_gradient_hessian_duration_s
      • OptimizationResult.IterationResult.chi2
      • OptimizationResult.IterationResult.duration_s
      • OptimizationResult.IterationResult.rel_diff
      • OptimizationResult.IterationResult.solve_duration_s
      • OptimizationResult.IterationResult.update_duration_s
      • OptimizationResult.IterationResult.is_complete_iteration()
  • _Chi2GradientHessian
    • _Chi2GradientHessian.chi2
    • _Chi2GradientHessian.gradient
    • _Chi2GradientHessian.hessian
    • _Chi2GradientHessian.DefaultArray
    • _Chi2GradientHessian.update()
• graphslam.load module
  • load_g2o()
  • load_g2o_r2()
  • load_g2o_r3()
  • load_g2o_se2()
  • load_g2o_se3()
• graphslam.util module
  • neg_pi_to_pi()
  • solve_for_edge_dimensionality()
  • upper_triangular_matrix_to_full_matrix()
• graphslam.vertex module
  • Vertex
    • Vertex.gradient_index
    • Vertex.id
    • Vertex.pose
    • Vertex.fixed
    • Vertex.equals()
    • Vertex.from_g2o()
    • Vertex.plot()
    • Vertex.to_g2o()

Module contents

Graph SLAM solver in Python.