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