135 lines
4.9 KiB
C++
135 lines
4.9 KiB
C++
/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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/**
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* @file BatchFixedLagSmoother.h
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* @brief An LM-based fixed-lag smoother.
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*
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* @author Michael Kaess, Stephen Williams
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* @date Oct 14, 2012
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*/
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// \callgraph
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#pragma once
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#include <gtsam_unstable/nonlinear/FixedLagSmoother.h>
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#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
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#include <queue>
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namespace gtsam {
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class BatchFixedLagSmoother : public FixedLagSmoother {
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public:
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/// Typedef for a shared pointer to an Incremental Fixed-Lag Smoother
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typedef boost::shared_ptr<BatchFixedLagSmoother> shared_ptr;
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/** default constructor */
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BatchFixedLagSmoother(double smootherLag = 0.0, const LevenbergMarquardtParams& parameters = LevenbergMarquardtParams(), bool enforceConsistency = false) :
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FixedLagSmoother(smootherLag), parameters_(parameters), enforceConsistency_(enforceConsistency) { };
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/** destructor */
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virtual ~BatchFixedLagSmoother() { };
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/** Print the factor for debugging and testing (implementing Testable) */
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virtual void print(const std::string& s = "BatchFixedLagSmoother:\n", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const;
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/** Check if two IncrementalFixedLagSmoother Objects are equal */
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virtual bool equals(const FixedLagSmoother& rhs, double tol = 1e-9) const;
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/** Add new factors, updating the solution and relinearizing as needed. */
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Result update(const NonlinearFactorGraph& newFactors = NonlinearFactorGraph(), const Values& newTheta = Values(),
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const KeyTimestampMap& timestamps = KeyTimestampMap());
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/** Compute an estimate from the incomplete linear delta computed during the last update.
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* This delta is incomplete because it was not updated below wildfire_threshold. If only
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* a single variable is needed, it is faster to call calculateEstimate(const KEY&).
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*/
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Values calculateEstimate() const {
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return theta_;
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}
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/** Compute an estimate for a single variable using its incomplete linear delta computed
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* during the last update. This is faster than calling the no-argument version of
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* calculateEstimate, which operates on all variables.
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* @param key
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* @return
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*/
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template<class VALUE>
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VALUE calculateEstimate(Key key) const {
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return theta_.at<VALUE>(key);
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}
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/** read the current set of optimizer parameters */
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const LevenbergMarquardtParams& params() const {
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return parameters_;
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}
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/** update the current set of optimizer parameters */
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LevenbergMarquardtParams& params() {
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return parameters_;
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}
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protected:
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/** A typedef defining an Key-Factor mapping **/
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typedef std::map<Key, std::set<Index> > FactorIndex;
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/** The L-M optimization parameters **/
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LevenbergMarquardtParams parameters_;
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/** A flag indicating if the optimizer should enforce probabilistic consistency by maintaining the
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* linearization point of all variables involved in linearized/marginal factors at the edge of the
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* smoothing window. This idea is from ??? TODO: Look up paper reference **/
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bool enforceConsistency_;
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/** The nonlinear factors **/
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NonlinearFactorGraph factors_;
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/** The current linearization point **/
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Values theta_;
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/** The set of keys involved in current linearized factors. These keys should not be relinearized. **/
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Values linearizedKeys_;
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/** The set of available factor graph slots. These occur because we are constantly deleting factors, leaving holes. **/
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std::queue<size_t> availableSlots_;
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/** A cross-reference structure to allow efficient factor lookups by key **/
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FactorIndex factorIndex_;
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/** Augment the list of factors with a set of new factors */
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void updateFactors(const NonlinearFactorGraph& newFactors);
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/** Remove factors from the list of factors by slot index */
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void removeFactors(const std::set<size_t>& deleteFactors);
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/** Erase any keys associated with timestamps before the provided time */
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void eraseKeys(const std::set<Key>& keys);
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/** Marginalize out selected variables */
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void marginalizeKeys(const std::set<Key>& marginalizableKeys);
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private:
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/** Private methods for printing debug information */
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static void PrintKeySet(const std::set<Key>& keys, const std::string& label);
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static void PrintSymbolicFactor(const NonlinearFactor::shared_ptr& factor);
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static void PrintSymbolicFactor(const GaussianFactor::shared_ptr& factor, const Ordering& ordering);
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static void PrintSymbolicGraph(const NonlinearFactorGraph& graph, const std::string& label);
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static void PrintSymbolicGraph(const GaussianFactorGraph& graph, const Ordering& ordering, const std::string& label);
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}; // BatchFixedLagSmoother
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} /// namespace gtsam
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