122 lines
2.9 KiB
C++
122 lines
2.9 KiB
C++
/**
|
|
* @file UrbanConfig.h
|
|
* @brief Config for Urban application
|
|
* @author Frank Dellaert
|
|
* @author Viorela Ila
|
|
*/
|
|
|
|
#include <string>
|
|
#include <map>
|
|
#include <vector>
|
|
#include <fstream>
|
|
#include "VectorConfig.h"
|
|
#include "Pose3.h"
|
|
#include "Point2.h"
|
|
#include "Testable.h"
|
|
|
|
#pragma once
|
|
|
|
namespace gtsam{
|
|
|
|
/**
|
|
* Config that knows about points and poses
|
|
*/
|
|
class UrbanConfig : Testable<UrbanConfig> {
|
|
|
|
private:
|
|
typedef std::map<int, Pose3> PoseMap;
|
|
typedef std::map<int, Point2> PointMap;
|
|
PointMap landmarkPoints_;
|
|
PoseMap robotPoses_;
|
|
|
|
public:
|
|
typedef std::map<std::string, Vector>::const_iterator const_iterator;
|
|
typedef PoseMap::const_iterator const_Pose_iterator;
|
|
typedef PointMap::const_iterator const_Point_iterator;
|
|
/**
|
|
* default constructor
|
|
*/
|
|
UrbanConfig() {}
|
|
|
|
/*
|
|
* copy constructor
|
|
*/
|
|
UrbanConfig(const UrbanConfig& original):
|
|
robotPoses_(original.robotPoses_), landmarkPoints_(original.landmarkPoints_){}
|
|
|
|
/**
|
|
* Exponential map: takes 6D vectors in VectorConfig
|
|
* and applies them to the poses in the UrbanConfig.
|
|
* Needed for use in nonlinear optimization
|
|
*/
|
|
UrbanConfig exmap(const VectorConfig & delta) const;
|
|
|
|
PoseMap::const_iterator robotIteratorBegin() const { return robotPoses_.begin();}
|
|
PoseMap::const_iterator robotIteratorEnd() const { return robotPoses_.end();}
|
|
PointMap::const_iterator landmarkIteratorBegin() const { return landmarkPoints_.begin();}
|
|
PointMap::const_iterator landmarkIteratorEnd() const { return landmarkPoints_.end();}
|
|
|
|
/**
|
|
* print
|
|
*/
|
|
void print(const std::string& s = "") const;
|
|
|
|
/**
|
|
* Retrieve robot pose
|
|
*/
|
|
bool robotPoseExists(int i) const
|
|
{
|
|
PoseMap::const_iterator it = robotPoses_.find(i);
|
|
if (it==robotPoses_.end())
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
Pose3 robotPose(int i) const {
|
|
PoseMap::const_iterator it = robotPoses_.find(i);
|
|
if (it==robotPoses_.end())
|
|
throw(std::invalid_argument("robotPose: invalid key"));
|
|
return it->second;
|
|
}
|
|
|
|
/**
|
|
* Check whether a landmark point exists
|
|
*/
|
|
bool landmarkPointExists(int i) const
|
|
{
|
|
PointMap::const_iterator it = landmarkPoints_.find(i);
|
|
if (it==landmarkPoints_.end())
|
|
return false;
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Retrieve landmark point
|
|
*/
|
|
Point2 landmarkPoint(int i) const {
|
|
PointMap::const_iterator it = landmarkPoints_.find(i);
|
|
if (it==landmarkPoints_.end())
|
|
throw(std::invalid_argument("markerPose: invalid key"));
|
|
return it->second;
|
|
}
|
|
|
|
/**
|
|
* check whether two configs are equal
|
|
*/
|
|
bool equals(const UrbanConfig& c, double tol=1e-6) const;
|
|
void addRobotPose(const int i, Pose3 cp);
|
|
void addLandmark(const int i, Point2 lp);
|
|
|
|
void removeRobotPose(const int i);
|
|
void removeLandmark(const int i);
|
|
|
|
void clear() {landmarkPoints_.clear(); robotPoses_.clear();}
|
|
|
|
inline size_t size(){
|
|
return landmarkPoints_.size() + robotPoses_.size();
|
|
}
|
|
};
|
|
|
|
} // namespace gtsam
|
|
|