154 lines
4.3 KiB
C++
154 lines
4.3 KiB
C++
/* ----------------------------------------------------------------------------
|
|
|
|
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
|
|
* Atlanta, Georgia 30332-0415
|
|
* All Rights Reserved
|
|
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
|
|
* See LICENSE for the license information
|
|
|
|
* -------------------------------------------------------------------------- */
|
|
|
|
/**
|
|
* @file smallExample.h
|
|
* @brief Create small example with two poses and one landmark
|
|
* @brief smallExample
|
|
* @author Carlos Nieto
|
|
*/
|
|
|
|
// \callgraph
|
|
|
|
|
|
#pragma once
|
|
|
|
#include <tests/simulated2D.h>
|
|
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
|
|
#include <boost/tuple/tuple.hpp>
|
|
|
|
namespace gtsam {
|
|
namespace example {
|
|
|
|
typedef NonlinearFactorGraph Graph;
|
|
|
|
/**
|
|
* Create small example for non-linear factor graph
|
|
*/
|
|
boost::shared_ptr<const Graph> sharedNonlinearFactorGraph();
|
|
Graph createNonlinearFactorGraph();
|
|
|
|
/**
|
|
* Create values structure to go with it
|
|
* The ground truth values structure for the example above
|
|
*/
|
|
Values createValues();
|
|
|
|
/** Vector Values equivalent */
|
|
VectorValues createVectorValues();
|
|
|
|
/**
|
|
* create a noisy values structure for a nonlinear factor graph
|
|
*/
|
|
boost::shared_ptr<const Values> sharedNoisyValues();
|
|
Values createNoisyValues();
|
|
|
|
/**
|
|
* Zero delta config
|
|
*/
|
|
VectorValues createZeroDelta(const Ordering& ordering);
|
|
|
|
/**
|
|
* Delta config that, when added to noisyValues, returns the ground truth
|
|
*/
|
|
VectorValues createCorrectDelta(const Ordering& ordering);
|
|
|
|
/**
|
|
* create a linear factor graph
|
|
* The non-linear graph above evaluated at NoisyValues
|
|
*/
|
|
GaussianFactorGraph createGaussianFactorGraph(const Ordering& ordering);
|
|
|
|
/**
|
|
* create small Chordal Bayes Net x <- y
|
|
*/
|
|
GaussianBayesNet createSmallGaussianBayesNet();
|
|
|
|
/**
|
|
* Create really non-linear factor graph (cos/sin)
|
|
*/
|
|
boost::shared_ptr<const Graph>
|
|
sharedReallyNonlinearFactorGraph();
|
|
Graph createReallyNonlinearFactorGraph();
|
|
|
|
/**
|
|
* Create a full nonlinear smoother
|
|
* @param T number of time-steps
|
|
*/
|
|
std::pair<Graph, Values> createNonlinearSmoother(int T);
|
|
|
|
/**
|
|
* Create a Kalman smoother by linearizing a non-linear factor graph
|
|
* @param T number of time-steps
|
|
*/
|
|
std::pair<FactorGraph<GaussianFactor>, Ordering> createSmoother(int T, boost::optional<Ordering> ordering = boost::none);
|
|
|
|
/* ******************************************************* */
|
|
// Linear Constrained Examples
|
|
/* ******************************************************* */
|
|
|
|
/**
|
|
* Creates a simple constrained graph with one linear factor and
|
|
* one binary equality constraint that sets x = y
|
|
*/
|
|
GaussianFactorGraph createSimpleConstraintGraph();
|
|
VectorValues createSimpleConstraintValues();
|
|
|
|
/**
|
|
* Creates a simple constrained graph with one linear factor and
|
|
* one binary constraint.
|
|
*/
|
|
GaussianFactorGraph createSingleConstraintGraph();
|
|
VectorValues createSingleConstraintValues();
|
|
|
|
/**
|
|
* Creates a constrained graph with a linear factor and two
|
|
* binary constraints that share a node
|
|
*/
|
|
GaussianFactorGraph createMultiConstraintGraph();
|
|
VectorValues createMultiConstraintValues();
|
|
|
|
/* ******************************************************* */
|
|
// Planar graph with easy subtree for SubgraphPreconditioner
|
|
/* ******************************************************* */
|
|
|
|
/*
|
|
* Create factor graph with N^2 nodes, for example for N=3
|
|
* x13-x23-x33
|
|
* | | |
|
|
* x12-x22-x32
|
|
* | | |
|
|
* -x11-x21-x31
|
|
* with x11 clamped at (1,1), and others related by 2D odometry.
|
|
*/
|
|
boost::tuple<GaussianFactorGraph, VectorValues> planarGraph(size_t N);
|
|
|
|
/*
|
|
* Create canonical ordering for planar graph that also works for tree
|
|
* With x11 the root, e.g. for N=3
|
|
* x33 x23 x13 x32 x22 x12 x31 x21 x11
|
|
*/
|
|
Ordering planarOrdering(size_t N);
|
|
|
|
/*
|
|
* Split graph into tree and loop closing constraints, e.g., with N=3
|
|
* x13-x23-x33
|
|
* |
|
|
* x12-x22-x32
|
|
* |
|
|
* -x11-x21-x31
|
|
*/
|
|
std::pair<GaussianFactorGraph, GaussianFactorGraph > splitOffPlanarTree(
|
|
size_t N, const GaussianFactorGraph& original);
|
|
|
|
} // example
|
|
} // gtsam
|