reusex::geometry::PoseGraphEdgeRecord Struct Reference

One pose-graph edge produced by the optimizer, indexed by position in the frames[] vector (NOT by database node_id — translate at the write site so GTSAM types never escape into the public API). More...

#include <PlaneGraphOptimizer.hpp>

Collaboration diagram for reusex::geometry::PoseGraphEdgeRecord:

Public Attributes
int	i = 0
	from-frame index in frames[]
int	j = 0
	to-frame index in frames[]
std::string	type
	"odometry" | "loop_closure"
double	residual = 0.0
	0.5 × whitened squared residual (GTSAM convention)
double	weight = 1.0
	1 / sigma_trans² at build time

Detailed Description

One pose-graph edge produced by the optimizer, indexed by position in the frames[] vector (NOT by database node_id — translate at the write site so GTSAM types never escape into the public API).

Definition at line 449 of file PlaneGraphOptimizer.hpp.

Member Data Documentation

i

int reusex::geometry::PoseGraphEdgeRecord::i = 0

from-frame index in frames[]

Definition at line 450 of file PlaneGraphOptimizer.hpp.

j

int reusex::geometry::PoseGraphEdgeRecord::j = 0

to-frame index in frames[]

Definition at line 451 of file PlaneGraphOptimizer.hpp.

residual

double reusex::geometry::PoseGraphEdgeRecord::residual = 0.0

0.5 × whitened squared residual (GTSAM convention)

Definition at line 453 of file PlaneGraphOptimizer.hpp.

type

std::string reusex::geometry::PoseGraphEdgeRecord::type

"odometry" | "loop_closure"

Definition at line 452 of file PlaneGraphOptimizer.hpp.

weight

double reusex::geometry::PoseGraphEdgeRecord::weight = 1.0

1 / sigma_trans² at build time

Definition at line 454 of file PlaneGraphOptimizer.hpp.

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The documentation for this struct was generated from the following file:

• libs/reusex/include/slam/PlaneGraphOptimizer.hpp