76 lines
2.0 KiB
C++
76 lines
2.0 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 pose3SLAM.h
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* @brief: 3D Pose SLAM
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* @authors Frank Dellaert
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**/
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#pragma once
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#include <gtsam/geometry/Pose3.h>
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#include <gtsam/nonlinear/LieValues.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/Key.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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namespace gtsam {
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// Use pose3SLAM namespace for specific SLAM instance
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namespace pose3SLAM {
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// Keys and Values
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typedef TypedSymbol<Pose3, 'x'> Key;
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typedef LieValues<Key> Values;
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/**
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* Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0)
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* @param n number of poses
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* @param R radius of circle
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* @param c character to use for keys
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* @return circle of n 3D poses
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*/
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Values circle(size_t n, double R);
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// Factors
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typedef PriorFactor<Values, Key> Prior;
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typedef BetweenFactor<Values, Key> Constraint;
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typedef NonlinearEquality<Values, Key> HardConstraint;
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// Graph
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struct Graph: public NonlinearFactorGraph<Values> {
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void addPrior(const Key& i, const Pose3& p,
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const SharedGaussian& model);
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void addConstraint(const Key& i, const Key& j, const Pose3& z,
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const SharedGaussian& model);
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void addHardConstraint(const Key& i, const Pose3& p);
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};
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// Optimizer
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typedef NonlinearOptimizer<Graph, Values> Optimizer;
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} // pose3SLAM
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/**
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* Backwards compatibility
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*/
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typedef pose3SLAM::Values Pose3Values;
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typedef pose3SLAM::Prior Pose3Prior;
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typedef pose3SLAM::Constraint Pose3Factor;
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typedef pose3SLAM::Graph Pose3Graph;
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} // namespace gtsam
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