126 lines
3.1 KiB
C++
126 lines
3.1 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 "VectorConfig.h"
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// \namespace
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namespace gtsam {
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typedef NonlinearFactorGraph<VectorConfig> 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 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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VectorConfig createConfig();
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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 VectorConfig> sharedNoisyConfig();
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VectorConfig createNoisyConfig();
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/**
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* Zero delta config
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*/
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VectorConfig 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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VectorConfig 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 Kalman smoother by linearizing a non-linear factor graph
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* @param T number of time-steps
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*/
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LinearFactorGraph createSmoother(int T);
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/* ******************************************************* */
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// Constrained Examples
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/* ******************************************************* */
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/**
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* Creates a simple constrained graph with one linear factor and
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* one binary constraint.
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*/
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ConstrainedLinearFactorGraph createSingleConstraintGraph();
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/**
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* Creates a constrained graph with a linear factor and two
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* binary constraints that share a node
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*/
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ConstrainedLinearFactorGraph createMultiConstraintGraph();
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/**
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* These are the old examples from the EqualityFactor/DeltaFunction
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* They should be updated for use at some point, but are disabled for now
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*/
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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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//VectorConfig createConstrainedConfig();
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/**
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* Create a noisy configuration for linearization
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*/
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//VectorConfig createConstrainedLinConfig();
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/**
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* Create the correct delta configuration
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*/
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//VectorConfig createConstrainedCorrectDelta();
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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<VectorConfig>,VectorConfig>
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// createConstrainedNonlinearFactorGraph();
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}
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