447 lines
13 KiB
C++
447 lines
13 KiB
C++
/**
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* GTSAM Wrap Module definition
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*
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* These are the current classes available through the matlab toolbox interface,
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* add more functions/classes as they are available.
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*
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* Requirements:
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* Constructors must appear in a class before any methods
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* Methods can only return Matrix, Vector, double, int, void, and a shared_ptr to any other object
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* Comments can use either C++ or C style
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* Static methods are not supported - FIXED
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* Methods must start with a lowercase letter
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* Static methods must start with an uppercase letter
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* Classes must start with an uppercase letter
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*/
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class Point2 {
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Point2();
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Point2(double x, double y);
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static Point2* Expmap_(Vector v);
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static Vector Logmap(const Point2& p);
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void print(string s) const;
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double x();
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double y();
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Point2* compose_(const Point2& p2);
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Point2* between_(const Point2& p2);
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Vector localCoordinates(const Point2& p);
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Point2* retract_(Vector v);
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};
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class Point3 {
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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static Point3* Expmap_(Vector v);
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static Vector Logmap(const Point3& p);
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void print(string s) const;
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bool equals(const Point3& p, double tol);
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Vector vector() const;
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double x();
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double y();
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double z();
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Point3* compose_(const Point3& p2);
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Point3* between_(const Point3& p2);
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Vector localCoordinates(const Point3& p);
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Point3* retract_(Vector v);
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};
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class Rot2 {
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Rot2();
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Rot2(double theta);
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static Rot2* Expmap_(Vector v);
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static Vector Logmap(const Rot2& p);
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void print(string s) const;
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bool equals(const Rot2& rot, double tol) const;
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double c() const;
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double s() const;
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Rot2* compose_(const Rot2& p2);
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Rot2* between_(const Rot2& p2);
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Vector localCoordinates(const Rot2& p);
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Rot2* retract_(Vector v);
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};
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class Rot3 {
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Rot3();
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Rot3(Matrix R);
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static Rot3* Expmap_(Vector v);
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static Vector Logmap(const Rot3& p);
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Matrix matrix() const;
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Matrix transpose() const;
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Vector xyz() const;
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Vector ypr() const;
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void print(string s) const;
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bool equals(const Rot3& rot, double tol) const;
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Rot3* compose_(const Rot3& p2);
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Rot3* between_(const Rot3& p2);
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Vector localCoordinates(const Rot3& p);
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Rot3* retract_(Vector v);
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};
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class Pose2 {
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Pose2();
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Pose2(double x, double y, double theta);
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Pose2(double theta, const Point2& t);
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Pose2(const Rot2& r, const Point2& t);
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Pose2(Vector v);
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static Pose2* Expmap_(Vector v);
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static Vector Logmap(const Pose2& p);
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void print(string s) const;
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bool equals(const Pose2& pose, double tol) const;
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double x() const;
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double y() const;
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double theta() const;
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int dim() const;
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Pose2* compose_(const Pose2& p2);
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Pose2* between_(const Pose2& p2);
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Vector localCoordinates(const Pose2& p);
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Pose2* retract_(Vector v);
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};
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class Pose3 {
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Pose3();
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Pose3(const Rot3& r, const Point3& t);
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Pose3(Vector v);
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Pose3(Matrix t);
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static Pose3* Expmap_(Vector v);
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static Vector Logmap(const Pose3& p);
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void print(string s) const;
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bool equals(const Pose3& pose, double tol) const;
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double x() const;
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double y() const;
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double z() const;
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Matrix matrix() const;
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Matrix adjointMap() const;
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Pose3* compose_(const Pose3& p2);
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Pose3* between_(const Pose3& p2);
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Vector localCoordinates(const Pose3& p);
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Pose3* retract_(Vector v);
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Point3* translation_() const;
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Rot3* rotation_() const;
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};
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class SharedGaussian {
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SharedGaussian(Matrix covariance);
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void print(string s) const;
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};
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class SharedDiagonal {
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SharedDiagonal(Vector sigmas);
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void print(string s) const;
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Vector sample() const;
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};
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class VectorValues {
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VectorValues();
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VectorValues(int nVars, int varDim);
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void print(string s) const;
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bool equals(const VectorValues& expected, double tol) const;
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int size() const;
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void insert(int j, const Vector& value);
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};
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class GaussianConditional {
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GaussianConditional(int key, Vector d, Matrix R, Vector sigmas);
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GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S,
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Vector sigmas);
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GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S,
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int name2, Matrix T, Vector sigmas);
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void print(string s) const;
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bool equals(const GaussianConditional &cg, double tol) const;
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};
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class GaussianBayesNet {
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GaussianBayesNet();
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void print(string s) const;
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bool equals(const GaussianBayesNet& cbn, double tol) const;
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void push_back(GaussianConditional* conditional);
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void push_front(GaussianConditional* conditional);
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};
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class GaussianFactor {
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void print(string s) const;
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bool equals(const GaussianFactor& lf, double tol) const;
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double error(const VectorValues& c) const;
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};
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class JacobianFactor {
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JacobianFactor();
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JacobianFactor(Vector b_in);
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JacobianFactor(int i1, Matrix A1, Vector b, const SharedDiagonal& model);
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JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, Vector b,
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const SharedDiagonal& model);
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JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, int i3, Matrix A3,
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Vector b, const SharedDiagonal& model);
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void print(string s) const;
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bool equals(const GaussianFactor& lf, double tol) const;
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bool empty() const;
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Vector getb() const;
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double error(const VectorValues& c) const;
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GaussianConditional* eliminateFirst();
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};
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class GaussianFactorGraph {
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GaussianFactorGraph();
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void print(string s) const;
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bool equals(const GaussianFactorGraph& lfgraph, double tol) const;
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int size() const;
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void push_back(GaussianFactor* ptr_f);
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double error(const VectorValues& c) const;
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double probPrime(const VectorValues& c) const;
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void combine(const GaussianFactorGraph& lfg);
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Matrix denseJacobian() const;
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Matrix denseHessian() const;
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Matrix sparseJacobian_() const;
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};
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class KalmanFilter {
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KalmanFilter(Vector x, const SharedDiagonal& model);
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void print(string s) const;
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Vector mean() const;
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Matrix information() const;
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Matrix covariance() const;
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void predict(Matrix F, Matrix B, Vector u, const SharedDiagonal& model);
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void predict2(Matrix A0, Matrix A1, Vector b, const SharedDiagonal& model);
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void update(Matrix H, Vector z, const SharedDiagonal& model);
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};
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class Landmark2 {
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Landmark2();
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Landmark2(double x, double y);
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void print(string s) const;
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double x();
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double y();
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};
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class Ordering {
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Ordering();
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void print(string s) const;
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bool equals(const Ordering& ord, double tol) const;
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void push_back(string key);
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};
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class PlanarSLAMValues {
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PlanarSLAMValues();
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void print(string s) const;
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Pose2* pose(int key);
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void insertPose(int key, const Pose2& pose);
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void insertPoint(int key, const Point2& point);
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};
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class PlanarSLAMGraph {
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PlanarSLAMGraph();
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void print(string s) const;
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double error(const PlanarSLAMValues& values) const;
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Ordering* orderingCOLAMD(const PlanarSLAMValues& values) const;
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GaussianFactorGraph* linearize(const PlanarSLAMValues& values,
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const Ordering& ordering) const;
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void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
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void addPoseConstraint(int key, const Pose2& pose);
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void addOdometry(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
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void addBearing(int poseKey, int pointKey, const Rot2& bearing, const SharedNoiseModel& noiseModel);
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void addRange(int poseKey, int pointKey, double range, const SharedNoiseModel& noiseModel);
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void addBearingRange(int poseKey, int pointKey, const Rot2& bearing, double range,
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const SharedNoiseModel& noiseModel);
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PlanarSLAMValues* optimize_(const PlanarSLAMValues& initialEstimate);
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};
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class PlanarSLAMOdometry {
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PlanarSLAMOdometry(int key1, int key2, const Pose2& measured,
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const SharedNoiseModel& model);
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void print(string s) const;
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GaussianFactor* linearize(const PlanarSLAMValues& center, const Ordering& ordering) const;
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};
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class GaussianSequentialSolver {
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GaussianSequentialSolver(const GaussianFactorGraph& graph, bool useQR);
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GaussianBayesNet* eliminate() const;
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VectorValues* optimize() const;
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GaussianFactor* marginalFactor(int j) const;
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Matrix marginalCovariance(int j) const;
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};
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//// These are considered to be broken and will be added back as they start working
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//// It's assumed that there have been interface changes that might break this
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//
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//class Ordering{
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// Ordering(string key);
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// void print(string s) const;
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// bool equals(const Ordering& ord, double tol) const;
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// Ordering subtract(const Ordering& keys) const;
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// void unique ();
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// void reverse ();
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// void push_back(string s);
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//};
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//
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//class GaussianFactorSet {
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// GaussianFactorSet();
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// void push_back(GaussianFactor* factor);
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//};
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//
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//class Simulated2DValues {
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// Simulated2DValues();
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// void print(string s) const;
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// void insertPose(int i, const Point2& p);
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// void insertPoint(int j, const Point2& p);
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// int nrPoses() const;
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// int nrPoints() const;
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// Point2* pose(int i);
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// Point2* point(int j);
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//};
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//
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//class Simulated2DOrientedValues {
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// Simulated2DOrientedValues();
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// void print(string s) const;
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// void insertPose(int i, const Pose2& p);
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// void insertPoint(int j, const Point2& p);
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// int nrPoses() const;
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// int nrPoints() const;
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// Pose2* pose(int i);
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// Point2* point(int j);
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//};
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//
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//class Simulated2DPosePrior {
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// Simulated2DPosePrior(Point2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOrientedPosePrior {
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// Simulated2DOrientedPosePrior(Pose2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DOrientedValues& c) const;
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//};
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//
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//class Simulated2DPointPrior {
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// Simulated2DPointPrior(Point2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOdometry {
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// Simulated2DOdometry(Point2& mu, const SharedDiagonal& model, int i1, int i2);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOrientedOdometry {
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// Simulated2DOrientedOdometry(Pose2& mu, const SharedDiagonal& model, int i1, int i2);
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// void print(string s) const;
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// double error(const Simulated2DOrientedValues& c) const;
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//};
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//
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//class Simulated2DMeasurement {
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// Simulated2DMeasurement(Point2& mu, const SharedDiagonal& model, int i, int j);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//// These are currently broken
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//// Solve by parsing a namespace pose2SLAM::Values and making a Pose2SLAMValues class
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//// We also have to solve the shared pointer mess to avoid duplicate methods
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//
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//class GaussianFactor {
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// GaussianFactor(string key1,
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// Matrix A1,
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// Vector b_in,
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// const SharedDiagonal& model);
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// GaussianFactor(string key1,
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// Matrix A1,
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// string key2,
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// Matrix A2,
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// Vector b_in,
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// const SharedDiagonal& model);
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// GaussianFactor(string key1,
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// Matrix A1,
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// string key2,
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// Matrix A2,
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// string key3,
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// Matrix A3,
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// Vector b_in,
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// const SharedDiagonal& model);
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// bool involves(string key) const;
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// Matrix getA(string key) const;
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// pair<Matrix,Vector> matrix(const Ordering& ordering) const;
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// pair<GaussianConditional*,GaussianFactor*> eliminate(string key) const;
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//};
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//
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//class GaussianFactorGraph {
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// GaussianConditional* eliminateOne(string key);
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// GaussianBayesNet* eliminate_(const Ordering& ordering);
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// VectorValues* optimize_(const Ordering& ordering);
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// pair<Matrix,Vector> matrix(const Ordering& ordering) const;
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// VectorValues* steepestDescent_(const VectorValues& x0) const;
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// VectorValues* conjugateGradientDescent_(const VectorValues& x0) const;
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//};
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//
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//
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//class Pose2Values{
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// Pose2Values();
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// Pose2 get(string key) const;
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// void insert(string name, const Pose2& val);
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// void print(string s) const;
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// void clear();
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// int size();
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//};
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//
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//class Pose2Factor {
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// Pose2Factor(string key1, string key2,
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// const Pose2& measured, Matrix measurement_covariance);
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// void print(string name) const;
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// double error(const Pose2Values& c) const;
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// size_t size() const;
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// GaussianFactor* linearize(const Pose2Values& config) const;
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//};
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//
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//class Pose2Graph{
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// Pose2Graph();
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// void print(string s) const;
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// GaussianFactorGraph* linearize_(const Pose2Values& config) const;
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// void push_back(Pose2Factor* factor);
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//};
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//
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//class SymbolicFactor{
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// SymbolicFactor(const Ordering& keys);
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// void print(string s) const;
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//};
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//
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//class Simulated2DPosePrior {
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// GaussianFactor* linearize(const Simulated2DValues& config) const;
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//};
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//
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//class Simulated2DOrientedPosePrior {
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// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
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//};
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//
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//class Simulated2DPointPrior {
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// GaussianFactor* linearize(const Simulated2DValues& config) const;
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//};
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//
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//class Simulated2DOdometry {
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// GaussianFactor* linearize(const Simulated2DValues& config) const;
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//};
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//
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//class Simulated2DOrientedOdometry {
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// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
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//};
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//
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//class Simulated2DMeasurement {
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// GaussianFactor* linearize(const Simulated2DValues& config) const;
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//};
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//
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//class Pose2SLAMOptimizer {
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// Pose2SLAMOptimizer(string dataset_name);
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// void print(string s) const;
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// void update(Vector x) const;
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// Vector optimize() const;
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// double error() const;
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// Matrix a1() const;
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// Matrix a2() const;
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// Vector b1() const;
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// Vector b2() const;
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//};
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