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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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2
cartographer/pose_graph/constraint/acceleration_constraint_3d.cc
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@ -34,7 +34,7 @@ AccelerationConstraint3D::AccelerationConstraint3D(
cost_(new AccelerationCost3D(proto.parameters())), cost_(new AccelerationCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {} ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void AccelerationConstraint3D::AddToOptimizer(Nodes* nodes, void AccelerationConstraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes, FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes."); "First node was not found in 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::LossFunction& loss_function_proto,
const proto::Acceleration3D& proto); const proto::Acceleration3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; 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_; } 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: protected:
virtual proto::CostFunction ToCostFunctionProto() const = 0; 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())), cost_(new InterpolatedRelativePoseCost2D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {} ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void InterpolatedRelativePoseConstraint2D::AddToOptimizer( void InterpolatedRelativePoseConstraint2D::AddToSolver(
Nodes* nodes, ceres::Problem* problem) const { Nodes* nodes, ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_2d_nodes, FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_2d_nodes,
"First node (start) was not found in 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 ConstraintId& id, const proto::LossFunction& loss_function_proto,
const proto::InterpolatedRelativePose2D& proto); const proto::InterpolatedRelativePose2D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; 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())), cost_(new InterpolatedRelativePoseCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {} ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void InterpolatedRelativePoseConstraint3D::AddToOptimizer( void InterpolatedRelativePoseConstraint3D::AddToSolver(
Nodes* nodes, ceres::Problem* problem) const { Nodes* nodes, ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_3d_nodes, FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_3d_nodes,
"First node (start) was not found in 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 ConstraintId& id, const proto::LossFunction& loss_function_proto,
const proto::InterpolatedRelativePose3D& proto); const proto::InterpolatedRelativePose3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; proto::CostFunction ToCostFunctionProto() const final;

2
cartographer/pose_graph/constraint/relative_pose_constraint_2d.cc
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@ -32,7 +32,7 @@ RelativePoseConstraint2D::RelativePoseConstraint2D(
ceres_cost_(absl::make_unique<RelativePoseCost2D>(proto.parameters())) {} ceres_cost_(absl::make_unique<RelativePoseCost2D>(proto.parameters())) {}
// TODO(pifon): Add a test. // TODO(pifon): Add a test.
void RelativePoseConstraint2D::AddToOptimizer(Nodes* nodes, void RelativePoseConstraint2D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_2d_nodes, FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_2d_nodes,
"First node was not found in pose_2d_nodes."); "First node was not found in 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::LossFunction& loss_function_proto,
const proto::RelativePose2D& proto); const proto::RelativePose2D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; proto::CostFunction ToCostFunctionProto() const final;

2
cartographer/pose_graph/constraint/relative_pose_constraint_3d.cc
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@ -32,7 +32,7 @@ RelativePoseConstraint3D::RelativePoseConstraint3D(
cost_(new RelativePoseCost3D(proto.parameters())), cost_(new RelativePoseCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {} ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes, void RelativePoseConstraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes, FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes."); "First node was not found in 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::LossFunction& loss_function_proto,
const proto::RelativePose3D& proto); const proto::RelativePose3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; proto::CostFunction ToCostFunctionProto() const final;

2
cartographer/pose_graph/constraint/rotation_constraint_3d.cc
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@ -53,7 +53,7 @@ RotationContraint3D::RotationContraint3D(
cost_(new RotationCost3D(proto.parameters())), cost_(new RotationCost3D(proto.parameters())),
ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {} ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
void RotationContraint3D::AddToOptimizer(Nodes* nodes, void RotationContraint3D::AddToSolver(Nodes* nodes,
ceres::Problem* problem) const { ceres::Problem* problem) const {
FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes, FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
"First node was not found in pose_3d_nodes."); "First node was not found in 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::LossFunction& loss_function_proto,
const proto::Rotation3D& proto); const proto::Rotation3D& proto);
void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final; void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
protected: protected:
proto::CostFunction ToCostFunctionProto() const final; 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_); AddConstraintToPoseGraphData(constraint, &data_);
} }
Optimizer::SolverStatus PoseGraphController::Optimize() { Solver::SolverStatus PoseGraphController::Optimize() {
absl::MutexLock locker(&mutex_); absl::MutexLock locker(&mutex_);
return optimizer_->Solve(&data_); return solver_->Solve(&data_);
} }
} // namespace pose_graph } // 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_ #define CARTOGRAPHER_POSE_GRAPH_POSE_GRAPH_CONTROLLER_H_
#include "absl/synchronization/mutex.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/pose_graph_data.h"
#include "cartographer/pose_graph/solver/solver.h"
namespace cartographer { namespace cartographer {
namespace pose_graph { namespace pose_graph {
class PoseGraphController { class PoseGraphController {
PoseGraphController(std::unique_ptr<Optimizer> optimizer) PoseGraphController(std::unique_ptr<Solver> optimizer)
: optimizer_(std::move(optimizer)) {} : solver_(std::move(optimizer)) {}
PoseGraphController(const PoseGraphController&) = delete; PoseGraphController(const PoseGraphController&) = delete;
PoseGraphController& operator=(const PoseGraphController&) = delete; PoseGraphController& operator=(const PoseGraphController&) = delete;
@ -35,10 +35,10 @@ class PoseGraphController {
void AddConstraint(const proto::Constraint& constraint) void AddConstraint(const proto::Constraint& constraint)
LOCKS_EXCLUDED(mutex_); LOCKS_EXCLUDED(mutex_);
Optimizer::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_); Solver::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_);
private: private:
std::unique_ptr<Optimizer> optimizer_; std::unique_ptr<Solver> solver_;
mutable absl::Mutex mutex_; mutable absl::Mutex mutex_;
PoseGraphData data_ GUARDED_BY(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. * limitations under the License.
*/ */
#include "cartographer/pose_graph/optimizer/ceres_optimizer.h" #include "cartographer/pose_graph/solver/ceres_solver.h"
namespace cartographer { namespace cartographer {
namespace pose_graph { namespace pose_graph {
@ -31,28 +31,28 @@ ceres::Problem::Options CreateCeresProblemOptions() {
return problem_options; return problem_options;
} }
Optimizer::SolverStatus ToSolverStatus( Solver::SolverStatus ToSolverStatus(
const ceres::TerminationType& termination_type) { const ceres::TerminationType& termination_type) {
switch (termination_type) { switch (termination_type) {
case (ceres::TerminationType::CONVERGENCE): case (ceres::TerminationType::CONVERGENCE):
return Optimizer::SolverStatus::CONVERGENCE; return Solver::SolverStatus::CONVERGENCE;
case (ceres::TerminationType::NO_CONVERGENCE): case (ceres::TerminationType::NO_CONVERGENCE):
return Optimizer::SolverStatus::NO_CONVERGENCE; return Solver::SolverStatus::NO_CONVERGENCE;
default: default:
return Optimizer::SolverStatus::FAILURE; return Solver::SolverStatus::FAILURE;
} }
} }
} // namespace } // namespace
CeresOptimizer::CeresOptimizer(const ceres::Solver::Options& options) CeresSolver::CeresSolver(const ceres::Solver::Options& options)
: problem_options_(CreateCeresProblemOptions()), 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_); ceres::Problem problem(problem_options_);
for (const auto& constraint : data->constraints) { for (const auto& constraint : data->constraints) {
constraint->AddToOptimizer(&data->nodes, &problem); constraint->AddToSolver(&data->nodes, &problem);
} }
ceres::Solver::Summary summary; 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. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_ #ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_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/problem.h"
#include "ceres/solver.h" #include "ceres/solver.h"
namespace cartographer { namespace cartographer {
namespace pose_graph { namespace pose_graph {
class CeresOptimizer : public Optimizer { class CeresSolver : public Solver {
public: public:
explicit CeresOptimizer(const ceres::Solver::Options& options); explicit CeresSolver(const ceres::Solver::Options& options);
SolverStatus Solve(PoseGraphData* data) const final; SolverStatus Solve(PoseGraphData* data) const final;
@ -38,4 +38,4 @@ class CeresOptimizer : public Optimizer {
} // namespace pose_graph } // namespace pose_graph
} // namespace cartographer } // 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. * 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 "absl/memory/memory.h"
#include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h" #include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h"
@ -67,14 +67,14 @@ constexpr char kRelativePose2D[] = R"PROTO(
} }
)PROTO"; )PROTO";
TEST(CeresOptimizerTest, SmokeTest) { TEST(CeresSolverTest, SmokeTest) {
PoseGraphData data; PoseGraphData data;
AddNodeToPoseGraphData(ParseProto<proto::Node>(kStartNode), &data); AddNodeToPoseGraphData(ParseProto<proto::Node>(kStartNode), &data);
AddNodeToPoseGraphData(ParseProto<proto::Node>(kEndNode), &data); AddNodeToPoseGraphData(ParseProto<proto::Node>(kEndNode), &data);
AddConstraintToPoseGraphData(ParseProto<proto::Constraint>(kRelativePose2D), AddConstraintToPoseGraphData(ParseProto<proto::Constraint>(kRelativePose2D),
&data); &data);
CeresOptimizer optimizer(ceres::Solver::Options{}); CeresSolver optimizer(ceres::Solver::Options{});
EXPECT_EQ(optimizer.Solve(&data), Optimizer::SolverStatus::CONVERGENCE); EXPECT_EQ(optimizer.Solve(&data), Solver::SolverStatus::CONVERGENCE);
} }
} // namespace } // 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. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_ #ifndef CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_ #define CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
#include "cartographer/pose_graph/pose_graph_data.h" #include "cartographer/pose_graph/pose_graph_data.h"
namespace cartographer { namespace cartographer {
namespace pose_graph { namespace pose_graph {
class Optimizer { class Solver {
public: public:
enum class SolverStatus { enum class SolverStatus {
CONVERGENCE, CONVERGENCE,
@ -30,11 +30,11 @@ class Optimizer {
FAILURE, FAILURE,
}; };
Optimizer() = default; Solver() = default;
virtual ~Optimizer() = default; virtual ~Solver() = default;
Optimizer(const Optimizer&) = delete; Solver(const Solver&) = delete;
Optimizer& operator=(const Optimizer&) = delete; Solver& operator=(const Solver&) = delete;
virtual SolverStatus Solve(PoseGraphData* data) const = 0; virtual SolverStatus Solve(PoseGraphData* data) const = 0;
}; };
@ -42,4 +42,4 @@ class Optimizer {
} // namespace pose_graph } // namespace pose_graph
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_ #endif // CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_