60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file planarSLAM.cpp
|
|
* @brief: bearing/range measurements in 2D plane
|
|
* @author Frank Dellaert
|
|
**/
|
|
|
|
#include <gtsam/slam/planarSLAM.h>
|
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
|
|
// Use planarSLAM namespace for specific SLAM instance
|
|
namespace planarSLAM {
|
|
|
|
Graph::Graph(const NonlinearFactorGraph& graph) :
|
|
NonlinearFactorGraph(graph) {}
|
|
|
|
void Graph::addPrior(Index i, const Pose2& p, const SharedNoiseModel& model) {
|
|
sharedFactor factor(new Prior(PoseKey(i), p, model));
|
|
push_back(factor);
|
|
}
|
|
|
|
void Graph::addPoseConstraint(Index i, const Pose2& p) {
|
|
sharedFactor factor(new Constraint(PoseKey(i), p));
|
|
push_back(factor);
|
|
}
|
|
|
|
void Graph::addOdometry(Index i, Index j, const Pose2& odometry, const SharedNoiseModel& model) {
|
|
sharedFactor factor(new Odometry(PoseKey(i), PoseKey(j), odometry, model));
|
|
push_back(factor);
|
|
}
|
|
|
|
void Graph::addBearing(Index i, Index j, const Rot2& z, const SharedNoiseModel& model) {
|
|
sharedFactor factor(new Bearing(PoseKey(i), PointKey(j), z, model));
|
|
push_back(factor);
|
|
}
|
|
|
|
void Graph::addRange(Index i, Index j, double z, const SharedNoiseModel& model) {
|
|
sharedFactor factor(new Range(PoseKey(i), PointKey(j), z, model));
|
|
push_back(factor);
|
|
}
|
|
|
|
void Graph::addBearingRange(Index i, Index j, const Rot2& z1,
|
|
double z2, const SharedNoiseModel& model) {
|
|
sharedFactor factor(new BearingRange(PoseKey(i), PointKey(j), z1, z2, model));
|
|
push_back(factor);
|
|
}
|
|
|
|
} // planarSLAM
|
|
|