/* ---------------------------------------------------------------------------- * GTSAM Copyright 2010, Georgia Tech Research Corporation, * Atlanta, Georgia 30332-0415 * All Rights Reserved * Authors: Frank Dellaert, et al. (see THANKS for the full author list) * See LICENSE for the license information * -------------------------------------------------------------------------- */ /** * @file Pose2SLAMExample.cpp * @brief A 2D Pose SLAM example using the predefined typedefs in gtsam/slam/pose2SLAM.h * @date Oct 21, 2010 * @author Yong Dian Jian */ // pull in the Pose2 SLAM domain with all typedefs and helper functions defined #include #include using namespace std; using namespace gtsam; using namespace gtsam::noiseModel; int main(int argc, char** argv) { // 1. Create graph container and add factors to it pose2SLAM::Graph graph; // 2a. Add Gaussian prior Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin SharedDiagonal priorNoise = Diagonal::Sigmas(Vector_(3, 0.3, 0.3, 0.1)); graph.addPrior(1, priorMean, priorNoise); // 2b. Add odometry factors SharedDiagonal odometryNoise = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addOdometry(1, 2, Pose2(2.0, 0.0, 0.0), odometryNoise); graph.addOdometry(2, 3, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(3, 4, Pose2(2.0, 0.0, M_PI_2), odometryNoise); graph.addOdometry(4, 5, Pose2(2.0, 0.0, M_PI_2), odometryNoise); // 2c. Add pose constraint SharedDiagonal model = Diagonal::Sigmas(Vector_(3, 0.2, 0.2, 0.1)); graph.addConstraint(5, 2, Pose2(2.0, 0.0, M_PI_2), model); // print graph.print("\nFactor graph:\n"); // 3. Create the data structure to hold the initialEstimate estimate to the solution pose2SLAM::Values initialEstimate; initialEstimate.insertPose(1, Pose2(0.5, 0.0, 0.2)); initialEstimate.insertPose(2, Pose2(2.3, 0.1, -0.2)); initialEstimate.insertPose(3, Pose2(4.1, 0.1, M_PI_2)); initialEstimate.insertPose(4, Pose2(4.0, 2.0, M_PI)); initialEstimate.insertPose(5, Pose2(2.1, 2.1, -M_PI_2)); initialEstimate.print("\nInitial estimate:\n"); // 4. Single Step Optimization using Levenberg-Marquardt pose2SLAM::Values result = graph.optimize(initialEstimate); result.print("\nFinal result:\n"); return 0; }