61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
/**
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* @file planarSLAM.h
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* @brief: bearing/range measurements in 2D plane
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* @authors Frank Dellaert
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**/
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#pragma once
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#include <gtsam/slam/BearingRangeFactor.h>
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#include <gtsam/nonlinear/TupleValues.h>
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#include <gtsam/nonlinear/NonlinearEquality.h>
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#include <gtsam/slam/PriorFactor.h>
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#include <gtsam/slam/BetweenFactor.h>
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#include <gtsam/nonlinear/NonlinearFactorGraph.h>
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#include <gtsam/nonlinear/NonlinearOptimizer.h>
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// We use gtsam namespace for generally useful factors
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namespace gtsam {
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// Use planarSLAM namespace for specific SLAM instance
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namespace planarSLAM {
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// Keys and Values
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typedef TypedSymbol<Pose2, 'x'> PoseKey;
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typedef TypedSymbol<Point2, 'l'> PointKey;
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typedef LieValues<PoseKey> PoseValues;
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typedef LieValues<PointKey> PointValues;
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typedef TupleValues2<PoseValues, PointValues> Values;
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// Factors
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typedef NonlinearEquality<Values, PoseKey> Constraint;
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typedef PriorFactor<Values, PoseKey> Prior;
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typedef BetweenFactor<Values, PoseKey> Odometry;
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typedef BearingFactor<Values, PoseKey, PointKey> Bearing;
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typedef RangeFactor<Values, PoseKey, PointKey> Range;
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typedef BearingRangeFactor<Values, PoseKey, PointKey> BearingRange;
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// Graph
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struct Graph: public NonlinearFactorGraph<Values> {
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Graph(){}
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Graph(const NonlinearFactorGraph<Values>& graph);
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void addPrior(const PoseKey& i, const Pose2& p, const SharedGaussian& model);
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void addPoseConstraint(const PoseKey& i, const Pose2& p);
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void addOdometry(const PoseKey& i, const PoseKey& j, const Pose2& z,
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const SharedGaussian& model);
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void addBearing(const PoseKey& i, const PointKey& j, const Rot2& z,
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const SharedGaussian& model);
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void addRange(const PoseKey& i, const PointKey& j, double z,
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const SharedGaussian& model);
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void addBearingRange(const PoseKey& i, const PointKey& j,
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const Rot2& z1, double z2, const SharedGaussian& model);
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};
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// Optimizer
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typedef NonlinearOptimizer<Graph, Values> Optimizer;
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} // planarSLAM
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} // namespace gtsam
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