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Modify GNC example, add comments to explain example purpose

release/4.3a0
achintyamohan 2023-09-11 16:54:31 -04:00
parent d6e9889f45
commit 5cb98a6dcd
1 changed files with 19 additions and 11 deletions
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28
examples/GNCExample.cpp
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@ -15,7 +15,14 @@
* @author Achintya Mohan * @author Achintya Mohan
*/ */
#include <gtsam/geometry/Point2.h> /**
* A simple 2D pose graph optimization example
* - The robot is initially at origin (0.0, 0.0, 0.0)
* - We have full odometry measurements for 2 motions
* - The robot first moves to (1.0, 0.0, 0.1) and then to (1.0, 1.0, 0.2)
*/
#include <gtsam/geometry/Pose2.h>
#include <gtsam/nonlinear/GncOptimizer.h> #include <gtsam/nonlinear/GncOptimizer.h>
#include <gtsam/nonlinear/GncParams.h> #include <gtsam/nonlinear/GncParams.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h> #include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
@ -34,20 +41,20 @@ int main() {
NonlinearFactorGraph graph; NonlinearFactorGraph graph;
// Add a prior to the first point, set to the origin // Add a prior to the first point, set to the origin
auto priorNoise = noiseModel::Isotropic::Sigma(2, 0.1); auto priorNoise = noiseModel::Isotropic::Sigma(3, 0.1);
graph.addPrior(1, Point2(0.0, 0.0), priorNoise); graph.addPrior(1, Pose2(0.0, 0.0, 0.0), priorNoise);
// Add additional factors, noise models must be Gaussian // Add additional factors, noise models must be Gaussian
Point2 x1(1.0, 0.0); Pose2 x1(1.0, 0.0, 0.1);
graph.emplace_shared<BetweenFactor<Point2>>(1, 2, x1, noiseModel::Isotropic::Sigma(2, 0.2)); graph.emplace_shared<BetweenFactor<Pose2>>(1, 2, x1, noiseModel::Isotropic::Sigma(3, 0.2));
Point2 x2(1.1, 0.1); Pose2 x2(0.0, 1.0, 0.1);
graph.emplace_shared<BetweenFactor<Point2>>(2, 3, x2, noiseModel::Isotropic::Sigma(2, 0.4)); graph.emplace_shared<BetweenFactor<Pose2>>(2, 3, x2, noiseModel::Isotropic::Sigma(3, 0.4));
// Initial estimates // Initial estimates
Values initial; Values initial;
initial.insert(1, Point2(0.5, -0.1)); initial.insert(1, Pose2(0.2, 0.5, -0.1));
initial.insert(2, Point2(1.3, 0.1)); initial.insert(2, Pose2(0.8, 0.3, 0.1));
initial.insert(3, Point2(0.8, 0.2)); initial.insert(3, Pose2(0.8, 0.2, 0.3));
// Set options for the non-minimal solver // Set options for the non-minimal solver
LevenbergMarquardtParams lmParams; LevenbergMarquardtParams lmParams;
@ -65,3 +72,4 @@ int main() {
return 0; return 0;
} }