65 lines
1.5 KiB
C++
65 lines
1.5 KiB
C++
/**
|
|
* @file pose3SLAM.h
|
|
* @brief: 3D Pose SLAM
|
|
* @authors Frank Dellaert
|
|
**/
|
|
|
|
#pragma once
|
|
|
|
#include "Key.h"
|
|
#include "Pose3.h"
|
|
#include "LieConfig.h"
|
|
#include "PriorFactor.h"
|
|
#include "BetweenFactor.h"
|
|
#include "NonlinearEquality.h"
|
|
#include "NonlinearFactorGraph.h"
|
|
#include "NonlinearOptimizer.h"
|
|
|
|
namespace gtsam {
|
|
|
|
// Use pose3SLAM namespace for specific SLAM instance
|
|
namespace pose3SLAM {
|
|
|
|
// Keys and Config
|
|
typedef TypedSymbol<Pose3, 'x'> Key;
|
|
typedef LieConfig<Key, Pose3> Config;
|
|
|
|
/**
|
|
* Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
|
|
* @param n number of poses
|
|
* @param R radius of circle
|
|
* @param c character to use for keys
|
|
* @return circle of n 3D poses
|
|
*/
|
|
Config circle(size_t n, double R);
|
|
|
|
// Factors
|
|
typedef PriorFactor<Config, Key, Pose3> Prior;
|
|
typedef BetweenFactor<Config, Key, Pose3> Constraint;
|
|
typedef NonlinearEquality<Config, Key, Pose3> HardConstraint;
|
|
|
|
// Graph
|
|
struct Graph: public NonlinearFactorGraph<Config> {
|
|
void addPrior(const Key& i, const Pose3& p,
|
|
const sharedGaussian& model);
|
|
void addConstraint(const Key& i, const Key& j, const Pose3& z,
|
|
const sharedGaussian& model);
|
|
void addHardConstraint(const Key& i, const Pose3& p);
|
|
};
|
|
|
|
// Optimizer
|
|
typedef NonlinearOptimizer<Graph, Config> Optimizer;
|
|
|
|
} // pose3SLAM
|
|
|
|
/**
|
|
* Backwards compatibility
|
|
*/
|
|
typedef pose3SLAM::Config Pose3Config;
|
|
typedef pose3SLAM::Prior Pose3Prior;
|
|
typedef pose3SLAM::Constraint Pose3Factor;
|
|
typedef pose3SLAM::Graph Pose3Graph;
|
|
|
|
} // namespace gtsam
|
|
|