113 lines
2.3 KiB
C++
113 lines
2.3 KiB
C++
/*
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* Pose2SLAMOptimizer.h
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*
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* Created on: Jan 22, 2010
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* Author: dellaert
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*/
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#ifndef POSE2SLAMOPTIMIZER_H_
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#define POSE2SLAMOPTIMIZER_H_
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#include <boost/foreach.hpp>
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#include "pose2SLAM.h"
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#include "Ordering.h"
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#include "SubgraphPreconditioner.h"
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namespace gtsam {
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/**
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* Optimizer class for use in MATLAB
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* Keeps a Pose2Config estimate
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* Returns all relevant matrices so MATLAB can optimize :-)
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*/
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class Pose2SLAMOptimizer {
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private:
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/** Non-linear factor graph */
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boost::shared_ptr<Pose2Graph> graph_;
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/** Current non-linear estimate */
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boost::shared_ptr<Pose2Config> theta_;
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/** Non-linear solver */
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typedef SubgraphPCG<Pose2Graph, Pose2Config> SPCG_Solver;
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SPCG_Solver solver_;
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/** Linear Solver */
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boost::shared_ptr<SubgraphPreconditioner> system_;
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public:
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/**
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* Create optimizer: finds spanning tree and ordering
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*/
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Pose2SLAMOptimizer(const std::string& dataset = "",
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const std::string& path = "");
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/**
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* print the object
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*/
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void print(const std::string& str = "") const;
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/**
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* Virtual destructor
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*/
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virtual ~Pose2SLAMOptimizer() {
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}
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/**
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* return graph pointer
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*/
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boost::shared_ptr<const Pose2Graph> graph() const {
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return graph_;
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}
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/**
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* return the current linearization point
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*/
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boost::shared_ptr<const Pose2Config> theta() const {
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return theta_;
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}
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/**
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* linearize around current theta
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*/
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void linearize() {
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system_ = solver_.linearize(*graph_, *theta_);
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}
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/**
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* Optimize to get a
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*/
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Vector optimize() const;
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double error() const;
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/**
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* Return matrices associated with optimization problem
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* around current non-linear estimate theta
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* Returns [IJS] sparse representation
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*/
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Matrix a1() const { return system_->A1(*solver_.ordering()); }
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Matrix a2() const { return system_->A2(*solver_.ordering()); }
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Vector b1() const { return system_->b1(); }
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Vector b2() const { return system_->b2(); }
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std::pair<Matrix,Vector> Ab1() const { return system_->Ab1(*solver_.ordering()); }
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std::pair<Matrix,Vector> Ab2() const { return system_->Ab2(*solver_.ordering()); }
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/**
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* update estimate with pure delta config x
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*/
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void update(const Vector& x);
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/**
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* update estimate with pre-conditioned delta config y
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*/
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void updatePreconditioned(const Vector& y);
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};
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}
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#endif /* POSE2SLAMOPTIMIZER_H_ */
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