sclam_helpers.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
//   notice, this list of conditions and the following disclaimer in the
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#ifndef G2O_SCLAM_HELPERS_H
#define G2O_SCLAM_HELPERS_H
 
#include "g2o_calibration_odom_laser_api.h"
 
namespace g2o {
 
class SparseOptimizer;
class DataQueue;
 
G2O_CALIBRATION_ODOM_LASER_API void addOdometryCalibLinksDifferential(
    SparseOptimizer& optimizer, const DataQueue& odomData);
 
G2O_CALIBRATION_ODOM_LASER_API void allocateSolverForSclam(
    SparseOptimizer& optimizer, bool levenberg = false);
 
}  // namespace g2o
 
#endif