closed_form_calibration.h

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G.Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
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#ifndef G2O_CLOSED_FORM_CALIBRATION_H
#define G2O_CLOSED_FORM_CALIBRATION_H
 
#include <Eigen/Core>
 
#include "g2o_calibration_odom_laser_api.h"
#include "motion_information.h"
 
namespace g2o {

class G2O_CALIBRATION_ODOM_LASER_API ClosedFormCalibration {
 public:
  static bool calibrate(const MotionInformationVector& measurements,
                        SE2& laserOffset, Eigen::Vector3d& odomParams);
 
 protected:
  static Eigen::VectorXd solveLagrange(const Eigen::Matrix<double, 5, 5>& M,
                                       double lambda);
};
 
}  // namespace g2o
 
#endif