2010-01-11 02:21:20 +08:00
|
|
|
/**
|
|
|
|
|
* @file Pose3Config.cpp
|
|
|
|
|
* @brief Configuration of 3D poses
|
|
|
|
|
* @author Frank Dellaert
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
#include "Pose3.h"
|
|
|
|
|
#include "LieConfig.h"
|
2010-01-16 09:16:59 +08:00
|
|
|
#include "Key.h"
|
2010-01-11 02:21:20 +08:00
|
|
|
|
|
|
|
|
namespace gtsam {
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Pose3Config is now simply a typedef
|
|
|
|
|
*/
|
Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
|
|
|
typedef LieConfig<Symbol<Pose3,'x'>,Pose3> Pose3Config;
|
2010-01-11 02:21:20 +08:00
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Create a circle of n 3D poses tangent to circle of radius R, first pose at (R,0,0)
|
|
|
|
|
* The convention used is the Navlab/Aerospace convention: X-forward,Y-right,Z-down
|
|
|
|
|
* @param n number of poses
|
|
|
|
|
* @param R radius of circle
|
|
|
|
|
* @param c character to use for keys
|
|
|
|
|
* @return circle of n 2D poses
|
|
|
|
|
*/
|
Large gtsam refactoring
To support faster development *and* better performance Richard and I pushed through a large refactoring of NonlinearFactors.
The following are the biggest changes:
1) NonLinearFactor1 and NonLinearFactor2 are now templated on Config, Key type, and X type, where X is the argument to the measurement function.
2) The measurement itself is no longer kept in the nonlinear factor. Instead, a derived class (see testVSLAMFactor, testNonlinearEquality, testPose3Factor etc...) has to implement a function to compute the errors, "evaluateErrors". Instead of (h(x)-z), it needs to return (z-h(x)), so Ax-b is an approximation of the error. IMPORTANT: evaluateErrors needs - if asked - *combine* the calculation of the function value h(x) and the derivatives dh(x)/dx. This was a major performance issue. To do this, boost::optional<Matrix&> arguments are provided, and tin EvaluateErrors you just says something like
if (H) *H = Matrix_(3,6,....);
3) We are no longer using int or strings for nonlinear factors. Instead, the preferred key type is now Symbol, defined in Key.h. This is both fast and cool: you can construct it from an int, and cast it to a strong. It also does type checking: a Symbol<Pose3,'x'> will not match a Symbol<Pose2,'x'>
4) minor: take a look at LieConfig.h: it help you avoid writing a lot of code bu automatically creating configs for a certain type. See e.g. Pose3Config.h. A "double" LieConfig is on the way - Thanks Richard and Manohar !
2010-01-14 06:25:03 +08:00
|
|
|
Pose3Config pose3Circle(size_t n, double R);
|
2010-01-11 02:21:20 +08:00
|
|
|
|
|
|
|
|
} // namespace
|
