[GenericPoseGraph] Rename class Optimizer -> Solver. (#1435)
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ba859a6ed5
commit
64062ee720
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@ -34,7 +34,7 @@ AccelerationConstraint3D::AccelerationConstraint3D(
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cost_(new AccelerationCost3D(proto.parameters())),
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ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
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void AccelerationConstraint3D::AddToOptimizer(Nodes* nodes,
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void AccelerationConstraint3D::AddToSolver(Nodes* nodes,
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ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
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"First node was not found in pose_3d_nodes.");
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@ -29,7 +29,7 @@ class AccelerationConstraint3D : public Constraint {
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const proto::LossFunction& loss_function_proto,
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const proto::Acceleration3D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -43,7 +43,7 @@ class Constraint {
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const ConstraintId& constraint_id() const { return constraint_id_; }
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virtual void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const = 0;
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virtual void AddToSolver(Nodes* nodes, ceres::Problem* problem) const = 0;
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protected:
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virtual proto::CostFunction ToCostFunctionProto() const = 0;
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@ -33,7 +33,7 @@ InterpolatedRelativePoseConstraint2D::InterpolatedRelativePoseConstraint2D(
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cost_(new InterpolatedRelativePoseCost2D(proto.parameters())),
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ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
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void InterpolatedRelativePoseConstraint2D::AddToOptimizer(
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void InterpolatedRelativePoseConstraint2D::AddToSolver(
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Nodes* nodes, ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_2d_nodes,
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"First node (start) was not found in pose_2d_nodes.");
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@ -29,7 +29,7 @@ class InterpolatedRelativePoseConstraint2D : public Constraint {
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const ConstraintId& id, const proto::LossFunction& loss_function_proto,
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const proto::InterpolatedRelativePose2D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -33,7 +33,7 @@ InterpolatedRelativePoseConstraint3D::InterpolatedRelativePoseConstraint3D(
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cost_(new InterpolatedRelativePoseCost3D(proto.parameters())),
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ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
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void InterpolatedRelativePoseConstraint3D::AddToOptimizer(
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void InterpolatedRelativePoseConstraint3D::AddToSolver(
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Nodes* nodes, ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node_start, first_start_, nodes->pose_3d_nodes,
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"First node (start) was not found in pose_3d_nodes.");
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@ -29,7 +29,7 @@ class InterpolatedRelativePoseConstraint3D : public Constraint {
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const ConstraintId& id, const proto::LossFunction& loss_function_proto,
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const proto::InterpolatedRelativePose3D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -32,7 +32,7 @@ RelativePoseConstraint2D::RelativePoseConstraint2D(
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ceres_cost_(absl::make_unique<RelativePoseCost2D>(proto.parameters())) {}
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// TODO(pifon): Add a test.
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void RelativePoseConstraint2D::AddToOptimizer(Nodes* nodes,
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void RelativePoseConstraint2D::AddToSolver(Nodes* nodes,
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ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_2d_nodes,
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"First node was not found in pose_2d_nodes.");
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@ -29,7 +29,7 @@ class RelativePoseConstraint2D : public Constraint {
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const proto::LossFunction& loss_function_proto,
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const proto::RelativePose2D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -32,7 +32,7 @@ RelativePoseConstraint3D::RelativePoseConstraint3D(
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cost_(new RelativePoseCost3D(proto.parameters())),
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ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
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void RelativePoseConstraint3D::AddToOptimizer(Nodes* nodes,
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void RelativePoseConstraint3D::AddToSolver(Nodes* nodes,
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ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
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"First node was not found in pose_3d_nodes.");
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@ -29,7 +29,7 @@ class RelativePoseConstraint3D : public Constraint {
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const proto::LossFunction& loss_function_proto,
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const proto::RelativePose3D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -53,7 +53,7 @@ RotationContraint3D::RotationContraint3D(
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cost_(new RotationCost3D(proto.parameters())),
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ceres_cost_(absl::make_unique<AutoDiffFunction>(cost_)) {}
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void RotationContraint3D::AddToOptimizer(Nodes* nodes,
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void RotationContraint3D::AddToSolver(Nodes* nodes,
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ceres::Problem* problem) const {
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FIND_NODE_OR_RETURN(first_node, first_, nodes->pose_3d_nodes,
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"First node was not found in pose_3d_nodes.");
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@ -29,7 +29,7 @@ class RotationContraint3D : public Constraint {
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const proto::LossFunction& loss_function_proto,
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const proto::Rotation3D& proto);
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void AddToOptimizer(Nodes* nodes, ceres::Problem* problem) const final;
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void AddToSolver(Nodes* nodes, ceres::Problem* problem) const final;
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protected:
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proto::CostFunction ToCostFunctionProto() const final;
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@ -29,9 +29,9 @@ void PoseGraphController::AddConstraint(const proto::Constraint& constraint) {
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AddConstraintToPoseGraphData(constraint, &data_);
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}
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Optimizer::SolverStatus PoseGraphController::Optimize() {
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Solver::SolverStatus PoseGraphController::Optimize() {
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absl::MutexLock locker(&mutex_);
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return optimizer_->Solve(&data_);
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return solver_->Solve(&data_);
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}
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} // namespace pose_graph
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@ -18,15 +18,15 @@
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#define CARTOGRAPHER_POSE_GRAPH_POSE_GRAPH_CONTROLLER_H_
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#include "absl/synchronization/mutex.h"
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#include "cartographer/pose_graph/optimizer/optimizer.h"
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#include "cartographer/pose_graph/pose_graph_data.h"
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#include "cartographer/pose_graph/solver/solver.h"
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namespace cartographer {
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namespace pose_graph {
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class PoseGraphController {
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PoseGraphController(std::unique_ptr<Optimizer> optimizer)
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: optimizer_(std::move(optimizer)) {}
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PoseGraphController(std::unique_ptr<Solver> optimizer)
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: solver_(std::move(optimizer)) {}
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PoseGraphController(const PoseGraphController&) = delete;
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PoseGraphController& operator=(const PoseGraphController&) = delete;
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@ -35,10 +35,10 @@ class PoseGraphController {
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void AddConstraint(const proto::Constraint& constraint)
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LOCKS_EXCLUDED(mutex_);
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Optimizer::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_);
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Solver::SolverStatus Optimize() LOCKS_EXCLUDED(mutex_);
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private:
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std::unique_ptr<Optimizer> optimizer_;
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std::unique_ptr<Solver> solver_;
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mutable absl::Mutex mutex_;
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PoseGraphData data_ GUARDED_BY(mutex_);
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@ -14,7 +14,7 @@
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* limitations under the License.
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*/
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#include "cartographer/pose_graph/optimizer/ceres_optimizer.h"
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#include "cartographer/pose_graph/solver/ceres_solver.h"
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namespace cartographer {
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namespace pose_graph {
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@ -31,28 +31,28 @@ ceres::Problem::Options CreateCeresProblemOptions() {
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return problem_options;
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}
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Optimizer::SolverStatus ToSolverStatus(
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Solver::SolverStatus ToSolverStatus(
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const ceres::TerminationType& termination_type) {
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switch (termination_type) {
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case (ceres::TerminationType::CONVERGENCE):
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return Optimizer::SolverStatus::CONVERGENCE;
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return Solver::SolverStatus::CONVERGENCE;
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case (ceres::TerminationType::NO_CONVERGENCE):
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return Optimizer::SolverStatus::NO_CONVERGENCE;
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return Solver::SolverStatus::NO_CONVERGENCE;
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default:
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return Optimizer::SolverStatus::FAILURE;
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return Solver::SolverStatus::FAILURE;
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}
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}
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} // namespace
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CeresOptimizer::CeresOptimizer(const ceres::Solver::Options& options)
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CeresSolver::CeresSolver(const ceres::Solver::Options& options)
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: problem_options_(CreateCeresProblemOptions()), solver_options_(options) {}
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Optimizer::SolverStatus CeresOptimizer::Solve(PoseGraphData* data) const {
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Solver::SolverStatus CeresSolver::Solve(PoseGraphData* data) const {
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ceres::Problem problem(problem_options_);
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for (const auto& constraint : data->constraints) {
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constraint->AddToOptimizer(&data->nodes, &problem);
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constraint->AddToSolver(&data->nodes, &problem);
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}
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ceres::Solver::Summary summary;
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@ -14,19 +14,19 @@
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
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#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
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#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
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#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
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#include "cartographer/pose_graph/optimizer/optimizer.h"
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#include "cartographer/pose_graph/solver/solver.h"
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#include "ceres/problem.h"
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#include "ceres/solver.h"
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namespace cartographer {
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namespace pose_graph {
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class CeresOptimizer : public Optimizer {
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class CeresSolver : public Solver {
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public:
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explicit CeresOptimizer(const ceres::Solver::Options& options);
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explicit CeresSolver(const ceres::Solver::Options& options);
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SolverStatus Solve(PoseGraphData* data) const final;
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@ -38,4 +38,4 @@ class CeresOptimizer : public Optimizer {
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} // namespace pose_graph
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} // namespace cartographer
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#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_OPTIMIZER_H_
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#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_CERES_SOLVER_H_
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@ -14,7 +14,7 @@
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* limitations under the License.
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*/
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#include "cartographer/pose_graph/optimizer/ceres_optimizer.h"
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#include "cartographer/pose_graph/solver/ceres_solver.h"
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#include "absl/memory/memory.h"
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#include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h"
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@ -67,14 +67,14 @@ constexpr char kRelativePose2D[] = R"PROTO(
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}
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)PROTO";
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TEST(CeresOptimizerTest, SmokeTest) {
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TEST(CeresSolverTest, SmokeTest) {
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PoseGraphData data;
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AddNodeToPoseGraphData(ParseProto<proto::Node>(kStartNode), &data);
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AddNodeToPoseGraphData(ParseProto<proto::Node>(kEndNode), &data);
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AddConstraintToPoseGraphData(ParseProto<proto::Constraint>(kRelativePose2D),
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&data);
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CeresOptimizer optimizer(ceres::Solver::Options{});
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EXPECT_EQ(optimizer.Solve(&data), Optimizer::SolverStatus::CONVERGENCE);
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CeresSolver optimizer(ceres::Solver::Options{});
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EXPECT_EQ(optimizer.Solve(&data), Solver::SolverStatus::CONVERGENCE);
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}
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} // namespace
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@ -14,15 +14,15 @@
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
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#define CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
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#ifndef CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
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#define CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
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#include "cartographer/pose_graph/pose_graph_data.h"
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namespace cartographer {
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namespace pose_graph {
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class Optimizer {
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class Solver {
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public:
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enum class SolverStatus {
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CONVERGENCE,
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@ -30,11 +30,11 @@ class Optimizer {
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FAILURE,
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};
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Optimizer() = default;
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virtual ~Optimizer() = default;
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Solver() = default;
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virtual ~Solver() = default;
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Optimizer(const Optimizer&) = delete;
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Optimizer& operator=(const Optimizer&) = delete;
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Solver(const Solver&) = delete;
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Solver& operator=(const Solver&) = delete;
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virtual SolverStatus Solve(PoseGraphData* data) const = 0;
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};
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@ -42,4 +42,4 @@ class Optimizer {
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} // namespace pose_graph
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} // namespace cartographer
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#endif // CARTOGRAPHER_POSE_GRAPH_OPTIMIZER_OPTIMIZER_H_
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#endif // CARTOGRAPHER_POSE_GRAPH_SOLVER_SOLVER_H_
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