76 lines
2.1 KiB
C++
76 lines
2.1 KiB
C++
/*
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* Pose2SLAMOptimizer.cpp
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*
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* Created on: Jan 22, 2010
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* Author: dellaert
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*/
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#include "Pose2SLAMOptimizer.h"
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#include "pose2SLAM.h"
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#include "dataset.h"
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#include "SubgraphPreconditioner-inl.h"
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using namespace std;
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namespace gtsam {
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using namespace pose2SLAM;
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/* ************************************************************************* */
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Pose2SLAMOptimizer::Pose2SLAMOptimizer(const string& dataset_name,
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const string& path) {
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static int maxID = 0;
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static bool addNoise = false;
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string filename;
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boost::optional<SharedDiagonal> noiseModel;
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boost::tie(filename, noiseModel) = dataset(dataset_name);
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// read graph and initial estimate
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boost::tie(graph_, theta_) = load2D(filename, noiseModel, maxID, addNoise);
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graph_->addPrior(theta_->begin()->first, theta_->begin()->second,
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noiseModel::Unit::Create(3));
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// initialize non-linear solver
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solver_.initialize(*graph_, *theta_);
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linearize();
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}
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/* ************************************************************************* */
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void Pose2SLAMOptimizer::print(const string& str) const {
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GTSAM_PRINT(*graph_);
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GTSAM_PRINT(*theta_);
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//TODO
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//GTSAM_PRINT(solver_);
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GTSAM_PRINT(*system_);
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}
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/* ************************************************************************* */
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void Pose2SLAMOptimizer::update(const Vector& x) {
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VectorConfig X = system_->assembleConfig(x, *solver_.ordering());
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*theta_ = expmap(*theta_, X);
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linearize();
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}
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/* ************************************************************************* */
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void Pose2SLAMOptimizer::updatePreconditioned(const Vector& y) {
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Vector x;
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update(x);
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}
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/* ************************************************************************* */
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Vector Pose2SLAMOptimizer::optimize() const {
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VectorConfig X = solver_.optimize(*system_);
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std::list<Vector> vs;
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BOOST_FOREACH(const Symbol& key, *solver_.ordering())
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vs.push_back(X[key]);
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return concatVectors(vs);
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}
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/* ************************************************************************* */
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double Pose2SLAMOptimizer::error() const {
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return graph_->error(*theta_);
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}
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}
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