62 lines
2.1 KiB
C++
62 lines
2.1 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_INTERPOLATED_RELATIVE_POSE_CONSTRAINT_3D_H_
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#define CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_INTERPOLATED_RELATIVE_POSE_CONSTRAINT_3D_H_
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#include "cartographer/pose_graph/constraint/constraint.h"
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#include "cartographer/pose_graph/constraint/cost_function/interpolated_relative_pose_cost_3d.h"
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namespace cartographer {
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namespace pose_graph {
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class InterpolatedRelativePoseConstraint3D : public Constraint {
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public:
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InterpolatedRelativePoseConstraint3D(
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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 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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private:
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// clang-format off
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using AutoDiffFunction = ceres::AutoDiffCostFunction<
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InterpolatedRelativePoseCost3D,
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6 /* number of residuals */,
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3 /* translation of first start pose */,
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4 /* rotation of first start pose */,
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3 /* translation of first end pose */,
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4 /* rotation of first end pose */,
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3 /* translation of second pose */,
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4 /* rotation of second pose */>;
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// clang-format on
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NodeId first_start_;
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NodeId first_end_;
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NodeId second_;
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// The cost function is owned by the ceres cost function.
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InterpolatedRelativePoseCost3D* const cost_;
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std::unique_ptr<AutoDiffFunction> ceres_cost_;
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};
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} // namespace pose_graph
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} // namespace cartographer
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#endif // CARTOGRAPHER_POSE_GRAPH_CONSTRAINT_INTERPOLATED_RELATIVE_POSE_CONSTRAINT_3D_H_
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