git update

src/ground_slam/include/optimization_2d/pose_graph_2d.h

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+#ifndef OPTIMIZATION_2D_POSE_GRAPH_2D_H_
+#define OPTIMIZATION_2D_POSE_GRAPH_2D_H_
+
+#include <fstream>
+#include <iostream>
+#include <map>
+#include <string>
+#include <vector>
+#include <ceres/ceres.h>
+
+#include "angle_local_parameterization.h"
+#include "pose_graph_2d_error_term.h"
+#include "types.h"
+
+namespace ceres {
+namespace optimization_2d {
+
+void BuildOptimizationProblem(const std::vector<Constraint2d>& constraints,
+                              std::map<int, Pose2d>* poses,
+                              ceres::Problem* problem);
+
+void BuildOptimizationProblemWithScale(const std::vector<Constraint2d>& constraints,
+                              std::vector<ScaleData>& scale_data,
+                              const std::vector<int>& scale_data_idx,
+                              std::map<int, Pose2d>* poses,
+                              ceres::Problem* problem);
+
+bool SolveOptimizationProblem(ceres::Problem* problem);
+
+}  // namespace optimization_2d
+}  // namespace ceres
+
+#endif  // OPTIMIZATION_2D_POSE_GRAPH_2D_H_