60 lines
1.1 KiB
C++
60 lines
1.1 KiB
C++
/**
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* @file UrbanGraph.h
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* @brief A factor graph for the Urban problem
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* @author Frank Dellaert
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* @author Viorela Ila
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*/
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#pragma once
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#include "NonlinearFactorGraph.h"
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#include "UrbanFactor.h"
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namespace gtsam {
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/**
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* Non-linear factor graph for visual SLAM
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*/
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class UrbanGraph: public gtsam::NonlinearFactorGraph<UrbanConfig> {
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public:
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/** default constructor is empty graph */
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UrbanGraph();
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/**
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* print out graph
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*/
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void print(const std::string& s = "") const;
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/**
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* equals
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*/
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bool equals(const UrbanGraph& p, double tol = 1e-9) const;
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/**
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* Add a landmark constraint
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*/
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void addMeasurement(double x, double y, double sigma, int p1, int p2);
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/**
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* Add an odometry constraint
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*/
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void addOdometry(double dx, double yaw, double sigmadx, double sigmayaw,
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int p);
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/**
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* Add an initial constraint on the first pose
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*/
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void addOriginConstraint(int p);
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private:
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/** Serialization function */
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friend class boost::serialization::access;
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version) {
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}
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};
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} // namespace gtsam
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