48 lines
858 B
C++
48 lines
858 B
C++
/**
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* @file Pose2Graph.h
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* @brief A factor graph for the 2D PoseSLAM problem
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* @author Frank Dellaert
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* @author Viorela Ila
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*/
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#pragma once
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#include "NonlinearFactorGraph.h"
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#include "FactorGraph.h"
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#include "Pose2Factor.h"
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#include "Pose2Config.h"
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#include "Testable.h"
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namespace gtsam{
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/**
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* Non-linear factor graph for visual SLAM
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*/
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class Pose2Graph : public gtsam::NonlinearFactorGraph<Pose2Config>{
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public:
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/** default constructor is empty graph */
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Pose2Graph() {}
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/**
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* print out graph
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*/
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void print(const std::string& s = "") const;
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/**
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* equals
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*/
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bool equals(const Pose2Graph& p, double tol=1e-9) const;
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {}
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};
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} // namespace gtsam
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