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[GenericPoseGraph] Rename class Optimizer -> Solver. (#1435)

master
Alexander Belyaev 2018-10-01 13:48:52 +02:00 committed by Wally B. Feed
parent ba859a6ed5
commit 64062ee720
19 changed files with 50 additions and 50 deletions
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4
cartographer/pose_graph/constraint/acceleration_constraint_3d.cc
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@ -34,8 +34,8 @@ AccelerationConstraint3D::AccelerationConstraint3D(
cost_(new AccelerationCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void AccelerationConstraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const {
void AccelerationConstraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes.");
FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,

2
cartographer/pose_graph/constraint/acceleration_constraint_3d.h
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@ -29,7 +29,7 @@ class AccelerationConstraint3D : public Constraint {
const proto::LossFunction& loss_function_proto,
const proto::Acceleration3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

2
cartographer/pose_graph/constraint/constraint.h
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@ -43,7 +43,7 @@ class Constraint {
const ConstraintId& constraint_id() const { return constraint_id_; }
virtual void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const = 0;
virtual void AddToSolver(Nodes* nodes, ceres::Problem* problem) const = 0;
protected:
virtual proto::CostFunction ToCostFunctionProto() const = 0;

2
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_2d.cc
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@ -33,7 +33,7 @@ InterpolatedRelativePoseConstraint2D::InterpolatedRelativePoseConstraint2D(
cost_(new InterpolatedRelativePoseCost2D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void InterpolatedRelativePoseConstraint2D::AddToOptimizer(
void InterpolatedRelativePoseConstraint2D::AddToSolver(
Nodes* nodes, ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_2d_nodes,
"First node (start) was not found in pose_2d_nodes.");

2
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_2d.h
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@ -29,7 +29,7 @@ class InterpolatedRelativePoseConstraint2D : public Constraint {
const ConstraintId& id, const proto::LossFunction& loss_function_proto,
const proto::InterpolatedRelativePose2D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

2
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_3d.cc
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@ -33,7 +33,7 @@ InterpolatedRelativePoseConstraint3D::InterpolatedRelativePoseConstraint3D(
cost_(new InterpolatedRelativePoseCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void InterpolatedRelativePoseConstraint3D::AddToOptimizer(
void InterpolatedRelativePoseConstraint3D::AddToSolver(
Nodes* nodes, ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_3d_nodes,
"First node (start) was not found in pose_3d_nodes.");

2
cartographer/pose_graph/constraint/interpolated_relative_pose_constraint_3d.h
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@ -29,7 +29,7 @@ class InterpolatedRelativePoseConstraint3D : public Constraint {
const ConstraintId& id, const proto::LossFunction& loss_function_proto,
const proto::InterpolatedRelativePose3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

4
cartographer/pose_graph/constraint/relative_pose_constraint_2d.cc
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@ -32,8 +32,8 @@ RelativePoseConstraint2D::RelativePoseConstraint2D(
ceres_cost_(absl::make_unique<RelativePoseCost2D>(proto.parameters())) {}
// TODO(pifon): Add a test.
void RelativePoseConstraint2D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const {
void RelativePoseConstraint2D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_2d_nodes,
"First node was not found in pose_2d_nodes.");
FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_2d_nodes,

2
cartographer/pose_graph/constraint/relative_pose_constraint_2d.h
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@ -29,7 +29,7 @@ class RelativePoseConstraint2D : public Constraint {
const proto::LossFunction& loss_function_proto,
const proto::RelativePose2D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

4
cartographer/pose_graph/constraint/relative_pose_constraint_3d.cc
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@ -32,8 +32,8 @@ RelativePoseConstraint3D::RelativePoseConstraint3D(
cost_(new RelativePoseCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const {
void RelativePoseConstraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes.");
FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,

2
cartographer/pose_graph/constraint/relative_pose_constraint_3d.h
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@ -29,7 +29,7 @@ class RelativePoseConstraint3D : public Constraint {
const proto::LossFunction& loss_function_proto,
const proto::RelativePose3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

4
cartographer/pose_graph/constraint/rotation_constraint_3d.cc
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@ -53,8 +53,8 @@ RotationContraint3D::RotationContraint3D(
cost_(new RotationCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void RotationContraint3D::AddToOptimizer(Nodes* nodes,
ceres::Problem* problem) const {
void RotationContraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes.");
FIND_NODE_OR_RETURN(second_node, second_, nodes->pose_3d_nodes,

2
cartographer/pose_graph/constraint/rotation_constraint_3d.h
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@ -29,7 +29,7 @@ class RotationContraint3D : public Constraint {
const proto::LossFunction& loss_function_proto,
const proto::Rotation3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected:
proto::CostFunction ToCostFunctionProto() const final;

4
cartographer/pose_graph/pose_graph_controller.cc
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@ -29,9 +29,9 @@ void PoseGraphController::AddConstraint(const proto::Constraint& constraint) {
AddConstraintToPoseGraphData(constraint, &data_);
}
Optimizer::SolverStatus PoseGraphController::Optimize() {
Solver::SolverStatus PoseGraphController::Optimize() {
absl::MutexLock locker(&mutex_);
return optimizer_->Solve(&data_);
return solver_->Solve(&data_);
}
} // namespace pose_graph

10
cartographer/pose_graph/pose_graph_controller.h
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@ -18,15 +18,15 @@
#define CARTOGRAPHER_POSE_GRAPH_POSE_GRAPH_CONTROLLER_H_
#include "absl/synchronization/mutex.h"
#include "cartographer/pose_graph/optimizer/optimizer.h"
#include "cartographer/pose_graph/pose_graph_data.h"
#include "cartographer/pose_graph/solver/solver.h"
namespace cartographer {
namespace pose_graph {
class PoseGraphController {
PoseGraphController(std::unique_ptr<Optimizer> optimizer)
: optimizer_(std::move(optimizer)) {}
PoseGraphController(std::unique_ptr<Solver> optimizer)
: solver_(std::move(optimizer)) {}
PoseGraphController(const PoseGraphController&) = delete;
PoseGraphController& operator=(const PoseGraphController&) = delete;
@ -35,10 +35,10 @@ class PoseGraphController {
void AddConstraint(const proto::Constraint& constraint)
LOCKS_EXCLUDED(mutex_);
Optimizer::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_);
Solver::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_);
private:
std::unique_ptr<Optimizer> optimizer_;
std::unique_ptr<Solver> solver_;
mutable absl::Mutex mutex_;
PoseGraphData data_ GUARDED_BY(mutex_);

16
cartographer/pose_graph/optimizer/ceres_optimizer.cc → cartographer/pose_graph/solver/ceres_solver.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/pose_graph/optimizer/ceres_optimizer.h"
#include "cartographer/pose_graph/solver/ceres_solver.h"
namespace cartographer {
namespace pose_graph {
@ -31,28 +31,28 @@ ceres::Problem::Options CreateCeresProblemOptions() {
return problem_options;
}
Optimizer::SolverStatus ToSolverStatus(
Solver::SolverStatus ToSolverStatus(
const ceres::TerminationType& termination_type) {
switch (termination_type) {
case (ceres::TerminationType::CONVERGENCE):
return Optimizer::SolverStatus::CONVERGENCE;
return Solver::SolverStatus::CONVERGENCE;
case (ceres::TerminationType::NO_CONVERGENCE):
return Optimizer::SolverStatus::NO_CONVERGENCE;
return Solver::SolverStatus::NO_CONVERGENCE;
default:
return Optimizer::SolverStatus::FAILURE;
return Solver::SolverStatus::FAILURE;
}
}
} // namespace
CeresOptimizer::CeresOptimizer(const ceres::Solver::Options& options)
CeresSolver::CeresSolver(const ceres::Solver::Options& options)
: problem_options_(CreateCeresProblemOptions()), solver_options_(options) {}
Optimizer::SolverStatus CeresOptimizer::Solve(PoseGraphData* data) const {
Solver::SolverStatus CeresSolver::Solve(PoseGraphData* data) const {
ceres::Problem problem(problem_options_);
for (const auto& constraint : data->constraints) {
constraint->AddToOptimizer(&data->nodes, &problem);
constraint->AddToSolver(&data->nodes, &problem);
}
ceres::Solver::Summary summary;

12
cartographer/pose_graph/optimizer/ceres_optimizer.h → cartographer/pose_graph/solver/ceres_solver.h
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@ -14,19 +14,19 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
#include "cartographer/pose_graph/optimizer/optimizer.h"
#include "cartographer/pose_graph/solver/solver.h"
#include "ceres/problem.h"
#include "ceres/solver.h"
namespace cartographer {
namespace pose_graph {
class CeresOptimizer : public Optimizer {
class CeresSolver : public Solver {
public:
explicit CeresOptimizer(const ceres::Solver::Options& options);
explicit CeresSolver(const ceres::Solver::Options& options);
SolverStatus Solve(PoseGraphData* data) const final;
@ -38,4 +38,4 @@ class CeresOptimizer : public Optimizer {
} // namespace pose_graph
} // namespace cartographer
#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_

8
cartographer/pose_graph/optimizer/ceres_optimizer_test.cc → cartographer/pose_graph/solver/ceres_solver_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/pose_graph/optimizer/ceres_optimizer.h"
#include "cartographer/pose_graph/solver/ceres_solver.h"
#include "absl/memory/memory.h"
#include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h"
@ -67,14 +67,14 @@ constexpr char kRelativePose2D[] = R"PROTO(
}
)PROTO";
TEST(CeresOptimizerTest, SmokeTest) {
TEST(CeresSolverTest, SmokeTest) {
PoseGraphData data;
AddNodeToPoseGraphData(ParseProto<proto::Node>(kStartNode), &data);
AddNodeToPoseGraphData(ParseProto<proto::Node>(kEndNode), &data);
AddConstraintToPoseGraphData(ParseProto<proto::Constraint>(kRelativePose2D),
&data);
CeresOptimizer optimizer(ceres::Solver::Options{});
EXPECT_EQ(optimizer.Solve(&data), Optimizer::SolverStatus::CONVERGENCE);
CeresSolver optimizer(ceres::Solver::Options{});
EXPECT_EQ(optimizer.Solve(&data), Solver::SolverStatus::CONVERGENCE);
}
} // namespace

16
cartographer/pose_graph/optimizer/optimizer.h → cartographer/pose_graph/solver/solver.h
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@ -14,15 +14,15 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
#ifndef CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
#define CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
#include "cartographer/pose_graph/pose_graph_data.h"
namespace cartographer {
namespace pose_graph {
class Optimizer {
class Solver {
public:
enum class SolverStatus {
CONVERGENCE,
@ -30,11 +30,11 @@ class Optimizer {
FAILURE,
};
Optimizer() = default;
virtual ~Optimizer() = default;
Solver() = default;
virtual ~Solver() = default;
Optimizer(const Optimizer&) = delete;
Optimizer& operator=(const Optimizer&) = delete;
Solver(const Solver&) = delete;
Solver& operator=(const Solver&) = delete;
virtual SolverStatus Solve(PoseGraphData* data) const = 0;
};
@ -42,4 +42,4 @@ class Optimizer {
} // namespace pose_graph
} // namespace cartographer
#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
#endif // CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_