58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/**
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* @file planarSLAM.cpp
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* @brief: bearing/range measurements in 2D plane
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* @authors Frank Dellaert
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**/
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#include <gtsam/slam/planarSLAM.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph-inl.h>
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#include <gtsam/nonlinear/NonlinearOptimizer-inl.h>
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#include <gtsam/nonlinear/TupleConfig-inl.h>
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// Use planarSLAM namespace for specific SLAM instance
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namespace gtsam {
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using namespace planarSLAM;
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INSTANTIATE_LIE_CONFIG(PointKey, Point2)
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INSTANTIATE_TUPLE_CONFIG2(PoseConfig, PointConfig)
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INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Config)
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INSTANTIATE_NONLINEAR_OPTIMIZER(Graph, Config)
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namespace planarSLAM {
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Graph::Graph(const NonlinearFactorGraph<Config>& graph) :
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NonlinearFactorGraph<Config>(graph) {}
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void Graph::addPrior(const PoseKey& i, const Pose2& p,
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const SharedGaussian& model) {
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sharedFactor factor(new Prior(i, p, model));
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push_back(factor);
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}
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void Graph::addPoseConstraint(const PoseKey& i, const Pose2& p) {
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sharedFactor factor(new Constraint(i, p));
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push_back(factor);
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}
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void Graph::addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,
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const SharedGaussian& model) {
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sharedFactor factor(new Odometry(i, j, z, model));
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push_back(factor);
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}
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void Graph::addBearing(const PoseKey& i, const PointKey& j, const Rot2& z,
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const SharedGaussian& model) {
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sharedFactor factor(new Bearing(i, j, z, model));
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push_back(factor);
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}
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void Graph::addRange(const PoseKey& i, const PointKey& j, double z,
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const SharedGaussian& model) {
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sharedFactor factor(new Range(i, j, z, model));
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push_back(factor);
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}
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} // planarSLAM
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} // gtsam
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