65 lines
2.8 KiB
Matlab
65 lines
2.8 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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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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%
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% See LICENSE for the license information
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%
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% @brief Simple robotics example using the pre-built planar SLAM domain
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% @author Alex Cunningham
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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import gtsam.*
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%% Create keys for variables
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i1 = symbol('x',1); i2 = symbol('x',2); i3 = symbol('x',3);
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j1 = symbol('l',1); j2 = symbol('l',2);
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%% Create graph and factors
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graph = NonlinearFactorGraph;
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% Prior factor - FAIL: unregistered class
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priorMean = Pose2(0.0, 0.0, 0.0); % prior at origin
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priorNoise = noiseModel.Diagonal.Sigmas([0.3; 0.3; 0.1]);
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graph.add(PriorFactorPose2(i1, priorMean, priorNoise)); % add directly to graph
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% Between Factors - FAIL: unregistered class
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odometry = Pose2(2.0, 0.0, 0.0);
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odometryNoise = noiseModel.Diagonal.Sigmas([0.2; 0.2; 0.1]);
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graph.add(BetweenFactorPose2(i1, i2, odometry, odometryNoise));
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graph.add(BetweenFactorPose2(i2, i3, odometry, odometryNoise));
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% BearingRange Factors - FAIL: unregistered class
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degrees = pi/180;
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brNoise = noiseModel.Diagonal.Sigmas([0.1; 0.2]);
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graph.add(BearingRangeFactor2D(i1, j1, Rot2(45*degrees), sqrt(4+4), brNoise));
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graph.add(BearingRangeFactor2D(i2, j1, Rot2(90*degrees), 2, brNoise));
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graph.add(BearingRangeFactor2D(i3, j2, Rot2(90*degrees), 2, brNoise));
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%% Create Values
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values = Values;
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values.insert(i1, Pose2(0.5, 0.0, 0.2));
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values.insert(i2, Pose2(2.3, 0.1,-0.2));
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values.insert(i3, Pose2(4.1, 0.1, 0.1));
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values.insert(j1, Point2(1.8, 2.1));
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values.insert(j2, Point2(4.1, 1.8));
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%% Check that serialization works properly
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serialized_values = serializeValues(values); % returns a string
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deserializedValues = deserializeValues(serialized_values); % returns a new values
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CHECK('values.equals(deserializedValues)',values.equals(deserializedValues,1e-9));
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CHECK('serializeValuesToFile(values, values.dat)', serializeValuesToFile(values, 'values.dat'));
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deserializedValuesFile = deserializeValuesFromFile('values.dat'); % returns a new values
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CHECK('values.equals(deserializedValuesFile)',values.equals(deserializedValuesFile,1e-9));
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% % FAIL: unregistered class - derived class not registered or exported
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% serialized_graph = serializeGraph(graph); % returns a string
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% deserializedGraph = deserializeGraph(serialized_graph); % returns a new graph
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% CHECK('graph.equals(deserializedGraph)',graph.equals(deserializedGraph,1e-9));
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%
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% CHECK('serializeGraphToFile(graph, graph.dat)', serializeGraphToFile(graph, 'graph.dat'));
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% deserializedGraphFile = deserializeGraphFromFile('graph.dat'); % returns a new graph
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% CHECK('graph.equals(deserializedGraphFile)',graph.equals(deserializedGraphFile,1e-9)); |