Recreated initializeRandomlyAt
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5a6bfed42c
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fc7944b42d
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@ -2960,6 +2960,7 @@ class ShonanAveraging2 {
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// Advanced API
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gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const;
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gtsam::Values initializeRandomlyAt(size_t p) const;
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double costAt(size_t p, const gtsam::Values& values) const;
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pair<double, Vector> computeMinEigenVector(const gtsam::Values& values) const;
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bool checkOptimality(const gtsam::Values& values) const;
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@ -3004,6 +3005,7 @@ class ShonanAveraging3 {
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// Advanced API
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gtsam::NonlinearFactorGraph buildGraphAt(size_t p) const;
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gtsam::Values initializeRandomlyAt(size_t p) const;
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double costAt(size_t p, const gtsam::Values& values) const;
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pair<double, Vector> computeMinEigenVector(const gtsam::Values& values) const;
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bool checkOptimality(const gtsam::Values& values) const;
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@ -749,10 +749,23 @@ Values ShonanAveraging<d>::initializeRandomly(std::mt19937 &rng) const {
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return initial;
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}
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/* ************************************************************************* */
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template <size_t d> Values ShonanAveraging<d>::initializeRandomly() const {
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return initializeRandomly(kRandomNumberGenerator);
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}
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/* ************************************************************************* */
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template <size_t d>
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Values ShonanAveraging<d>::initializeRandomly() const {
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return ShonanAveraging<d>::initializeRandomly(kRandomNumberGenerator);
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Values ShonanAveraging<d>::initializeRandomlyAt(size_t p,
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std::mt19937 &rng) const {
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const Values randomRotations = initializeRandomly(rng);
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return LiftTo<Rot3>(p, randomRotations); // lift to p!
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}
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/* ************************************************************************* */
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template <size_t d>
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Values ShonanAveraging<d>::initializeRandomlyAt(size_t p) const {
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return initializeRandomlyAt(p, kRandomNumberGenerator);
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}
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/* ************************************************************************* */
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@ -235,6 +235,15 @@ public:
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*/
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NonlinearFactorGraph buildGraphAt(size_t p) const;
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/**
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* Create initial Values of type SO(p)
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* @param p the dimensionality of the rotation manifold
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*/
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Values initializeRandomlyAt(size_t p, std::mt19937 &rng) const;
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/// Version of initializeRandomlyAt with fixed random seed.
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Values initializeRandomlyAt(size_t p) const;
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/**
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* Calculate cost for SO(p)
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* Values should be of type SO(p)
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