616 lines
19 KiB
C++
616 lines
19 KiB
C++
/**
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* GTSAM Wrap Module Definition
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*
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* These are the current classes available through the matlab toolbox interface,
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* add more functions/classes as they are available.
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*
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* Requirements:
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* Classes must start with an uppercase letter
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* Only one Method/Constructor per line
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* Methods can return
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* - Eigen types: Matrix, Vector
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* - C/C++ basic types: string, bool, size_t, int, double
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* - void
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* - Any class with which be copied with boost::make_shared()
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* - boost::shared_ptr of any object type
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* Limitations on methods
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* - Parsing does not support overloading
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* - There can only be one method with a given name
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* Arguments to functions any of
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* - Eigen types: Matrix, Vector
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* - Eigen types and classes as an optionally const reference
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* - C/C++ basic types: string, bool, size_t, int, double
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* - Any class with which be copied with boost::make_shared() (except Eigen)
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* - boost::shared_ptr of any object type (except Eigen)
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* Comments can use either C++ or C style, with multiple lines
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* Namespace definitions
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* - Names of namespaces must start with a lowercase letter
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* - start a namespace with "namespace {"
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* - end a namespace with exactly "}///\namespace [namespace_name]", optionally adding the name of the namespace
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* - This ending is not C++ standard, and must contain "}///\namespace" to parse
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* - Namespaces can be nested
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* Namespace usage
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* - Namespaces can be specified for classes in arguments and return values
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* - In each case, the namespace must be fully specified, e.g., "namespace1::namespace2::ClassName"
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* Methods must start with a lowercase letter
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* Static methods must start with a letter (upper or lowercase) and use the "static" keyword
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* Includes in C++ wrappers
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* - By default, the include will be <[classname].h>
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* - All namespaces must have angle brackets: <path>
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* - To override, add a full include statement just before the class statement
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* - An override include can be added for a namespace by placing it just before the namespace statement
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* - Both classes and namespace accept exactly one namespace
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* Overriding type dependency checks
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* - If you are using a class 'OtherClass' not wrapped in this definition file, add "class OtherClass;" to avoid a dependency error
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* - Limitation: this only works if the class does not need a namespace specification
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*/
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/**
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* Status:
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* - TODO: global functions
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* - TODO: default values for arguments
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* - TODO: overloaded functions
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* - TODO: signatures for constructors can be ambiguous if two types have the same first letter
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* - TODO: Handle Rot3M conversions to quaternions
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*/
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// Everything is in the gtsam namespace, so we avoid copying everything in
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using namespace gtsam;
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//*************************************************************************
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// base
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//*************************************************************************
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//*************************************************************************
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// geometry
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//*************************************************************************
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class Point2 {
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Point2();
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Point2(double x, double y);
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static Point2 Expmap(Vector v);
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static Vector Logmap(const Point2& p);
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void print(string s) const;
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double x();
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double y();
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Vector localCoordinates(const Point2& p);
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Point2 compose(const Point2& p2);
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Point2 between(const Point2& p2);
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Point2 retract(Vector v);
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};
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class Point3 {
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Point3();
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Point3(double x, double y, double z);
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Point3(Vector v);
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static Point3 Expmap(Vector v);
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static Vector Logmap(const Point3& p);
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void print(string s) const;
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bool equals(const Point3& p, double tol);
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Vector vector() const;
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double x();
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double y();
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double z();
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Vector localCoordinates(const Point3& p);
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Point3 retract(Vector v);
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Point3 compose(const Point3& p2);
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Point3 between(const Point3& p2);
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};
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class Rot2 {
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Rot2();
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Rot2(double theta);
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static Rot2 Expmap(Vector v);
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static Vector Logmap(const Rot2& p);
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static Rot2 fromAngle(double theta);
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static Rot2 fromDegrees(double theta);
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static Rot2 fromCosSin(double c, double s);
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static Rot2 relativeBearing(const Point2& d); // Ignoring derivative
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static Rot2 atan2(double y, double x);
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void print(string s) const;
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bool equals(const Rot2& rot, double tol) const;
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double theta() const;
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double degrees() const;
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double c() const;
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double s() const;
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Vector localCoordinates(const Rot2& p);
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Rot2 retract(Vector v);
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Rot2 compose(const Rot2& p2);
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Rot2 between(const Rot2& p2);
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};
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class Rot3 {
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Rot3();
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Rot3(Matrix R);
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static Rot3 Rx(double t);
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static Rot3 Ry(double t);
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static Rot3 Rz(double t);
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// static Rot3 RzRyRx(double x, double y, double z); // FIXME: overloaded functions don't work yet
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static Rot3 RzRyRx(Vector xyz);
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static Rot3 yaw (double t); // positive yaw is to right (as in aircraft heading)
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static Rot3 pitch(double t); // positive pitch is up (increasing aircraft altitude)
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static Rot3 roll (double t); // positive roll is to right (increasing yaw in aircraft)
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static Rot3 ypr(double y, double p, double r);
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static Rot3 quaternion(double w, double x, double y, double z);
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static Rot3 rodriguez(Vector v);
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void print(string s) const;
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bool equals(const Rot3& rot, double tol) const;
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static Rot3 identity();
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Rot3 compose(const Rot3& p2) const;
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Rot3 inverse() const;
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Rot3 between(const Rot3& p2) const;
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Point3 rotate(const Point3& p) const;
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Point3 unrotate(const Point3& p) const;
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Rot3 retractCayley(Vector v) const;
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Rot3 retract(Vector v) const;
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Vector localCoordinates(const Rot3& p) const;
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static Rot3 Expmap(Vector v);
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static Vector Logmap(const Rot3& p);
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Matrix matrix() const;
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Matrix transpose() const;
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Point3 column(int index) const;
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Vector xyz() const;
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Vector ypr() const;
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Vector rpy() const;
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double roll() const;
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double pitch() const;
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double yaw() const;
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// Vector toQuaternion() const; // FIXME: Can't cast to Vector properly
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};
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class Pose2 {
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Pose2();
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Pose2(double x, double y, double theta);
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Pose2(double theta, const Point2& t);
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Pose2(const Rot2& r, const Point2& t);
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Pose2(Vector v);
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static Pose2 Expmap(Vector v);
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static Vector Logmap(const Pose2& p);
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void print(string s) const;
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bool equals(const Pose2& pose, double tol) const;
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double x() const;
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double y() const;
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double theta() const;
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int dim() const;
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Vector localCoordinates(const Pose2& p);
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Pose2 retract(Vector v);
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Pose2 compose(const Pose2& p2);
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Pose2 between(const Pose2& p2);
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Rot2 bearing(const Point2& point);
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double range(const Point2& point);
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Point2 translation() const;
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Rot2 rotation() const;
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};
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class Pose3 {
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Pose3();
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Pose3(const Rot3& r, const Point3& t);
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Pose3(Vector v);
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Pose3(Matrix t);
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Pose3(const Pose2& pose2);
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static Pose3 Expmap(Vector v);
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static Vector Logmap(const Pose3& p);
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void print(string s) const;
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bool equals(const Pose3& pose, double tol) const;
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double x() const;
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double y() const;
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double z() const;
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Matrix matrix() const;
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Matrix adjointMap() const;
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Pose3 compose(const Pose3& p2);
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Pose3 between(const Pose3& p2);
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Pose3 retract(Vector v);
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Pose3 retractFirstOrder(Vector v);
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Point3 translation() const;
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Rot3 rotation() const;
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};
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//*************************************************************************
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// inference
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//*************************************************************************
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//*************************************************************************
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// linear
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//*************************************************************************
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class SharedGaussian {
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SharedGaussian(Matrix covariance);
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void print(string s) const;
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};
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class SharedDiagonal {
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SharedDiagonal(Vector sigmas);
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void print(string s) const;
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Vector sample() const;
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};
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class SharedNoiseModel {
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static SharedNoiseModel sharedSigmas(Vector sigmas);
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static SharedNoiseModel sharedSigma(size_t dim, double sigma);
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static SharedNoiseModel sharedPrecisions(Vector precisions);
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static SharedNoiseModel sharedPrecision(size_t dim, double precision);
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static SharedNoiseModel sharedUnit(size_t dim);
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static SharedNoiseModel sharedSqrtInformation(Matrix R);
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static SharedNoiseModel sharedCovariance(Matrix covariance);
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void print(string s) const;
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};
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class VectorValues {
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VectorValues();
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VectorValues(int nVars, int varDim);
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void print(string s) const;
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bool equals(const VectorValues& expected, double tol) const;
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int size() const;
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void insert(int j, Vector value);
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};
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class GaussianConditional {
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GaussianConditional(int key, Vector d, Matrix R, Vector sigmas);
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GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S,
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Vector sigmas);
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GaussianConditional(int key, Vector d, Matrix R, int name1, Matrix S,
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int name2, Matrix T, Vector sigmas);
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void print(string s) const;
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bool equals(const GaussianConditional &cg, double tol) const;
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};
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class GaussianBayesNet {
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GaussianBayesNet();
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void print(string s) const;
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bool equals(const GaussianBayesNet& cbn, double tol) const;
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void push_back(GaussianConditional* conditional);
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void push_front(GaussianConditional* conditional);
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};
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class GaussianFactor {
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void print(string s) const;
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bool equals(const GaussianFactor& lf, double tol) const;
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double error(const VectorValues& c) const;
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};
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class JacobianFactor {
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JacobianFactor();
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JacobianFactor(Vector b_in);
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JacobianFactor(int i1, Matrix A1, Vector b, const SharedDiagonal& model);
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JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, Vector b,
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const SharedDiagonal& model);
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JacobianFactor(int i1, Matrix A1, int i2, Matrix A2, int i3, Matrix A3,
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Vector b, const SharedDiagonal& model);
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void print(string s) const;
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bool equals(const GaussianFactor& lf, double tol) const;
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bool empty() const;
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Vector getb() const;
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double error(const VectorValues& c) const;
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GaussianConditional* eliminateFirst();
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};
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class HessianFactor {
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HessianFactor(const HessianFactor& gf);
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HessianFactor();
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HessianFactor(int j, Matrix G, Vector g, double f);
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HessianFactor(int j, Vector mu, Matrix Sigma);
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HessianFactor(int j1, int j2, Matrix G11, Matrix G12, Vector g1, Matrix G22,
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Vector g2, double f);
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HessianFactor(int j1, int j2, int j3, Matrix G11, Matrix G12, Matrix G13,
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Vector g1, Matrix G22, Matrix G23, Vector g2, Matrix G33, Vector g3,
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double f);
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HessianFactor(const GaussianConditional& cg);
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HessianFactor(const GaussianFactor& factor);
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void print(string s) const;
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bool equals(const GaussianFactor& lf, double tol) const;
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double error(const VectorValues& c) const;
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};
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class GaussianFactorGraph {
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GaussianFactorGraph();
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GaussianFactorGraph(const GaussianBayesNet& CBN);
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// From FactorGraph
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void push_back(GaussianFactor* factor);
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void print(string s) const;
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bool equals(const GaussianFactorGraph& lfgraph, double tol) const;
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int size() const;
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// Building the graph
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void add(JacobianFactor* factor);
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void add(Vector b);
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void add(int key1, Matrix A1, Vector b, const SharedDiagonal& model);
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void add(int key1, Matrix A1, int key2, Matrix A2, Vector b,
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const SharedDiagonal& model);
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void add(int key1, Matrix A1, int key2, Matrix A2, int key3, Matrix A3,
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Vector b, const SharedDiagonal& model);
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void add(HessianFactor* factor);
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// error and probability
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double error(const VectorValues& c) const;
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double probPrime(const VectorValues& c) const;
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// combining
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static GaussianFactorGraph combine2(const GaussianFactorGraph& lfg1,
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const GaussianFactorGraph& lfg2);
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void combine(const GaussianFactorGraph& lfg);
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// Conversion to matrices
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Matrix sparseJacobian_() const;
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Matrix denseJacobian() const;
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Matrix denseHessian() const;
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};
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class GaussianSequentialSolver {
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GaussianSequentialSolver(const GaussianFactorGraph& graph, bool useQR);
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GaussianBayesNet* eliminate() const;
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VectorValues* optimize() const;
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GaussianFactor* marginalFactor(int j) const;
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Matrix marginalCovariance(int j) const;
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};
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class KalmanFilter {
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KalmanFilter(Vector x0, const SharedDiagonal& P0);
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KalmanFilter(Vector x0, Matrix P0);
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void print(string s) const;
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Vector mean() const;
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Matrix information() const;
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Matrix covariance() const;
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KalmanFilter predict(Matrix F, Matrix B, Vector u, const SharedDiagonal& model);
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KalmanFilter predictQ(Matrix F, Matrix B, Vector u, Matrix Q);
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KalmanFilter predict2(Matrix A0, Matrix A1, Vector b, const SharedDiagonal& model);
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KalmanFilter update(Matrix H, Vector z, const SharedDiagonal& model);
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};
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//*************************************************************************
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// nonlinear
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//*************************************************************************
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class Ordering {
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Ordering();
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void print(string s) const;
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bool equals(const Ordering& ord, double tol) const;
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void push_back(string key);
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};
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//*************************************************************************
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// slam
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//*************************************************************************
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// Planar SLAM example domain
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#include <gtsam/slam/planarSLAM.h>
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namespace planarSLAM {
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class Values {
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Values();
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void print(string s) const;
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Pose2 pose(int key) const;
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Point2 point(int key) const;
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void insertPose(int key, const Pose2& pose);
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void insertPoint(int key, const Point2& point);
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};
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class Graph {
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Graph();
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void print(string s) const;
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double error(const planarSLAM::Values& values) const;
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Ordering* orderingCOLAMD(const planarSLAM::Values& values) const;
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GaussianFactorGraph* linearize(const planarSLAM::Values& values,
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const Ordering& ordering) const;
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void addPrior(int key, const Pose2& pose, const SharedNoiseModel& noiseModel);
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void addPoseConstraint(int key, const Pose2& pose);
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void addOdometry(int key1, int key2, const Pose2& odometry, const SharedNoiseModel& noiseModel);
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void addBearing(int poseKey, int pointKey, const Rot2& bearing, const SharedNoiseModel& noiseModel);
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void addRange(int poseKey, int pointKey, double range, const SharedNoiseModel& noiseModel);
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void addBearingRange(int poseKey, int pointKey, const Rot2& bearing, double range,
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const SharedNoiseModel& noiseModel);
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planarSLAM::Values optimize(const planarSLAM::Values& initialEstimate);
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};
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class Odometry {
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Odometry(int key1, int key2, const Pose2& measured,
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const SharedNoiseModel& model);
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void print(string s) const;
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GaussianFactor* linearize(const planarSLAM::Values& center, const Ordering& ordering) const;
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};
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}///\namespace planarSLAM
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// Simulated2D Example Domain
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#include <gtsam/slam/simulated2D.h>
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namespace simulated2D {
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class Values {
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Values();
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void insertPose(int i, const Point2& p);
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void insertPoint(int j, const Point2& p);
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int nrPoses() const;
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int nrPoints() const;
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Point2 pose(int i);
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Point2 point(int j);
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};
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class Graph {
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Graph();
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};
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// TODO: add factors, etc.
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}///\namespace simulated2D
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// Simulated2DOriented Example Domain
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#include <gtsam/slam/simulated2DOriented.h>
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namespace simulated2DOriented {
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class Values {
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Values();
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void insertPose(int i, const Pose2& p);
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void insertPoint(int j, const Point2& p);
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int nrPoses() const;
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int nrPoints() const;
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Pose2 pose(int i);
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Point2 point(int j);
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};
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class Graph {
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Graph();
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};
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// TODO: add factors, etc.
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}///\namespace simulated2DOriented
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//// These are considered to be broken and will be added back as they start working
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//// It's assumed that there have been interface changes that might break this
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//
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//class Ordering{
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// Ordering(string key);
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// void print(string s) const;
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// bool equals(const Ordering& ord, double tol) const;
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// Ordering subtract(const Ordering& keys) const;
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// void unique ();
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// void reverse ();
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// void push_back(string s);
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//};
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//
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//class GaussianFactorSet {
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// GaussianFactorSet();
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// void push_back(GaussianFactor* factor);
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//};
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//
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//class Simulated2DPosePrior {
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// Simulated2DPosePrior(Point2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOrientedPosePrior {
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// Simulated2DOrientedPosePrior(Pose2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DOrientedValues& c) const;
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//};
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//
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//class Simulated2DPointPrior {
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// Simulated2DPointPrior(Point2& mu, const SharedDiagonal& model, int i);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOdometry {
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// Simulated2DOdometry(Point2& mu, const SharedDiagonal& model, int i1, int i2);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class Simulated2DOrientedOdometry {
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// Simulated2DOrientedOdometry(Pose2& mu, const SharedDiagonal& model, int i1, int i2);
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// void print(string s) const;
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// double error(const Simulated2DOrientedValues& c) const;
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//};
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//
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//class Simulated2DMeasurement {
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// Simulated2DMeasurement(Point2& mu, const SharedDiagonal& model, int i, int j);
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// void print(string s) const;
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// double error(const Simulated2DValues& c) const;
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//};
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//
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//class GaussianFactor {
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// GaussianFactor(string key1,
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// Matrix A1,
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// Vector b_in,
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|
// const SharedDiagonal& model);
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|
// GaussianFactor(string key1,
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|
// Matrix A1,
|
|
// string key2,
|
|
// Matrix A2,
|
|
// Vector b_in,
|
|
// const SharedDiagonal& model);
|
|
// GaussianFactor(string key1,
|
|
// Matrix A1,
|
|
// string key2,
|
|
// Matrix A2,
|
|
// string key3,
|
|
// Matrix A3,
|
|
// Vector b_in,
|
|
// const SharedDiagonal& model);
|
|
// bool involves(string key) const;
|
|
// Matrix getA(string key) const;
|
|
// pair<Matrix,Vector> matrix(const Ordering& ordering) const;
|
|
// pair<GaussianConditional*,GaussianFactor*> eliminate(string key) const;
|
|
//};
|
|
//
|
|
//class GaussianFactorGraph {
|
|
// GaussianConditional* eliminateOne(string key);
|
|
// GaussianBayesNet* eliminate_(const Ordering& ordering);
|
|
// VectorValues* optimize_(const Ordering& ordering);
|
|
// pair<Matrix,Vector> matrix(const Ordering& ordering) const;
|
|
// VectorValues* steepestDescent_(const VectorValues& x0) const;
|
|
// VectorValues* conjugateGradientDescent_(const VectorValues& x0) const;
|
|
//};
|
|
//
|
|
//class Pose2Values{
|
|
// Pose2Values();
|
|
// Pose2 get(string key) const;
|
|
// void insert(string name, const Pose2& val);
|
|
// void print(string s) const;
|
|
// void clear();
|
|
// int size();
|
|
//};
|
|
//
|
|
//class Pose2Factor {
|
|
// Pose2Factor(string key1, string key2,
|
|
// const Pose2& measured, Matrix measurement_covariance);
|
|
// void print(string name) const;
|
|
// double error(const Pose2Values& c) const;
|
|
// size_t size() const;
|
|
// GaussianFactor* linearize(const Pose2Values& config) const;
|
|
//};
|
|
//
|
|
//class Pose2Graph{
|
|
// Pose2Graph();
|
|
// void print(string s) const;
|
|
// GaussianFactorGraph* linearize_(const Pose2Values& config) const;
|
|
// void push_back(Pose2Factor* factor);
|
|
//};
|
|
//
|
|
//class SymbolicFactor{
|
|
// SymbolicFactor(const Ordering& keys);
|
|
// void print(string s) const;
|
|
//};
|
|
//
|
|
//class Simulated2DPosePrior {
|
|
// GaussianFactor* linearize(const Simulated2DValues& config) const;
|
|
//};
|
|
//
|
|
//class Simulated2DOrientedPosePrior {
|
|
// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
|
|
//};
|
|
//
|
|
//class Simulated2DPointPrior {
|
|
// GaussianFactor* linearize(const Simulated2DValues& config) const;
|
|
//};
|
|
//
|
|
//class Simulated2DOdometry {
|
|
// GaussianFactor* linearize(const Simulated2DValues& config) const;
|
|
//};
|
|
//
|
|
//class Simulated2DOrientedOdometry {
|
|
// GaussianFactor* linearize(const Simulated2DOrientedValues& config) const;
|
|
//};
|
|
//
|
|
//class Simulated2DMeasurement {
|
|
// GaussianFactor* linearize(const Simulated2DValues& config) const;
|
|
//};
|
|
//
|
|
//class Pose2SLAMOptimizer {
|
|
// Pose2SLAMOptimizer(string dataset_name);
|
|
// void print(string s) const;
|
|
// void update(Vector x) const;
|
|
// Vector optimize() const;
|
|
// double error() const;
|
|
// Matrix a1() const;
|
|
// Matrix a2() const;
|
|
// Vector b1() const;
|
|
// Vector b2() const;
|
|
//};
|