54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
/**
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* @file pose2SLAM.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/pose2SLAM.h>
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#include <gtsam/nonlinear/LieConfig-inl.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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// Use pose2SLAM namespace for specific SLAM instance
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namespace gtsam {
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using namespace pose2SLAM;
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INSTANTIATE_LIE_CONFIG(Key, Pose2)
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INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Config)
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INSTANTIATE_NONLINEAR_OPTIMIZER(Graph, Config)
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namespace pose2SLAM {
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/* ************************************************************************* */
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Config circle(size_t n, double R) {
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Config x;
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double theta = 0, dtheta = 2 * M_PI / n;
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for (size_t i = 0; i < n; i++, theta += dtheta)
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x.insert(i, Pose2(cos(theta), sin(theta), M_PI_2 + theta));
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return x;
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}
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/* ************************************************************************* */
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void Graph::addPrior(const Key& 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::addConstraint(const Key& i, const Key& j, const Pose2& z,
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const SharedGaussian& model) {
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sharedFactor factor(new Constraint(i, j, z, model));
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push_back(factor);
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}
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void Graph::addHardConstraint(const Key& i, const Pose2& p) {
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sharedFactor factor(new HardConstraint(i, p));
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push_back(factor);
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}
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/* ************************************************************************* */
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} // pose2SLAM
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} // gtsam
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