99 lines
2.3 KiB
C++
99 lines
2.3 KiB
C++
/**
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* @file smallExample.h
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* @brief Create small example with two poses and one landmark
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* @brief smallExample
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* @author Carlos Nieto
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*/
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// \callgraph
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#pragma once
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#include <boost/shared_ptr.hpp>
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//#include "ConstrainedNonlinearFactorGraph.h" // will be added back once design is solidified
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//#include "ConstrainedLinearFactorGraph.h"
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#include "NonlinearFactorGraph.h"
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#include "ChordalBayesNet.h"
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#include "LinearFactorGraph.h"
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#include "FGConfig.h"
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// \namespace
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namespace gtsam {
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typedef NonlinearFactorGraph<FGConfig> ExampleNonlinearFactorGraph;
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/**
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* Create small example for non-linear factor graph
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*/
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boost::shared_ptr<const ExampleNonlinearFactorGraph > sharedNonlinearFactorGraph();
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ExampleNonlinearFactorGraph createNonlinearFactorGraph();
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/**
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* Create small example constrained factor graph
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*/
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//ConstrainedLinearFactorGraph createConstrainedLinearFactorGraph();
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/**
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* Create small example constrained nonlinear factor graph
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*/
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// ConstrainedNonlinearFactorGraph<NonlinearFactor<FGConfig>,FGConfig>
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// createConstrainedNonlinearFactorGraph();
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/**
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* Create configuration to go with it
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* The ground truth configuration for the example above
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*/
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FGConfig createConfig();
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/**
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* Create configuration for constrained example
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* This is the ground truth version
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*/
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//FGConfig createConstrainedConfig();
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/**
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* create a noisy configuration for a nonlinear factor graph
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*/
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boost::shared_ptr<const FGConfig> sharedNoisyConfig();
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FGConfig createNoisyConfig();
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/**
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* Zero delta config
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*/
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FGConfig createZeroDelta();
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/**
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* Delta config that, when added to noisyConfig, returns the ground truth
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*/
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FGConfig createCorrectDelta();
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/**
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* create a linear factor graph
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* The non-linear graph above evaluated at NoisyConfig
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*/
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LinearFactorGraph createLinearFactorGraph();
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/**
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* create small Chordal Bayes Net x <- y
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*/
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ChordalBayesNet createSmallChordalBayesNet();
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/**
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* Create really non-linear factor graph (cos/sin)
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*/
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boost::shared_ptr<const ExampleNonlinearFactorGraph> sharedReallyNonlinearFactorGraph();
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ExampleNonlinearFactorGraph createReallyNonlinearFactorGraph();
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/**
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* Create a noisy configuration for linearization
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*/
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//FGConfig createConstrainedLinConfig();
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/**
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* Create the correct delta configuration
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*/
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//FGConfig createConstrainedCorrectDelta();
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}
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