59 lines
1.3 KiB
C++
59 lines
1.3 KiB
C++
/**
|
|
* @file Pose2Graph.h
|
|
* @brief A factor graph for the 2D PoseSLAM problem
|
|
* @author Frank Dellaert
|
|
* @author Viorela Ila
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "NonlinearFactorGraph.h"
|
|
#include "NonlinearEquality.h"
|
|
#include "Pose2Factor.h"
|
|
#include "Pose2Config.h"
|
|
|
|
namespace gtsam {
|
|
|
|
/**
|
|
* Non-linear factor graph for visual SLAM
|
|
*/
|
|
class Pose2Graph: public gtsam::NonlinearFactorGraph<Pose2Config> {
|
|
|
|
public:
|
|
|
|
/** default constructor is empty graph */
|
|
Pose2Graph() {
|
|
}
|
|
|
|
/**
|
|
* equals
|
|
*/
|
|
bool equals(const Pose2Graph& p, double tol = 1e-9) const;
|
|
|
|
/**
|
|
* Add a factor without having to do shared factor dance
|
|
*/
|
|
inline void add(const std::string& key1, const std::string& key2,
|
|
const Pose2& measured, const Matrix& covariance) {
|
|
push_back(sharedFactor(new Pose2Factor(key1, key2, measured, covariance)));
|
|
}
|
|
|
|
/**
|
|
* Add an equality constraint on a pose
|
|
* @param key of pose
|
|
* @param pose which pose to constrain it to
|
|
*/
|
|
inline void addConstraint(const std::string& key, const Pose2& pose = Pose2()) {
|
|
push_back(sharedFactor(new NonlinearEquality<Pose2Config>(key, pose)));
|
|
}
|
|
|
|
private:
|
|
/** Serialization function */
|
|
friend class boost::serialization::access;
|
|
template<class Archive>
|
|
void serialize(Archive & ar, const unsigned int version) {
|
|
}
|
|
};
|
|
|
|
} // namespace gtsam
|