This is a wrapper for the HOGMAN 6D graph optimizer written by Giorgio Grisetti, Rainer Kuemmerle, Cyrill Stachniss.

More information can be found on the original website:

http://openslam.org/hog-man.html

Additional information

The file hogman_wrapper in the package articulation_structure contains an example how to generate a graph, add nodes and edges using Bullet transforms, and optimize the graph using HOG-Man.

https://alufr-ros-pkg.googlecode.com/svn/trunk/articulation/articulation_structure/src/hogman_wrapper.cpp