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