Namespaces | Functions | Variables
lago.cpp File Reference
#include <gtsam/slam/lago.h>
#include <gtsam/slam/InitializePose.h>
#include <gtsam/slam/BetweenFactor.h>
#include <gtsam/nonlinear/PriorFactor.h>
#include <gtsam/geometry/Pose2.h>
#include <gtsam/inference/Symbol.h>
#include <gtsam/base/timing.h>
#include <gtsam/base/kruskal.h>
#include <iostream>
#include <stack>
#include <cmath>
Include dependency graph for lago.cpp:

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Namespaces

 gtsam
 traits
 
 gtsam::lago
 

Functions

GaussianFactorGraph gtsam::lago::buildLinearOrientationGraph (const vector< size_t > &spanningTreeIds, const vector< size_t > &chordsIds, const NonlinearFactorGraph &g, const key2doubleMap &orientationsToRoot, const PredecessorMap &tree)
 
static VectorValues gtsam::lago::computeOrientations (const NonlinearFactorGraph &pose2Graph, bool useOdometricPath)
 
Values gtsam::lago::computePoses (const NonlinearFactorGraph &pose2graph, VectorValues &orientationsLago)
 
key2doubleMap gtsam::lago::computeThetasToRoot (const key2doubleMap &deltaThetaMap, const PredecessorMap &tree)
 
static double gtsam::lago::computeThetaToRoot (const Key nodeKey, const PredecessorMap &tree, const key2doubleMap &deltaThetaMap, const key2doubleMap &thetaFromRootMap)
 
PredecessorMap gtsam::lago::findMinimumSpanningTree (const NonlinearFactorGraph &pose2Graph)
 
static PredecessorMap gtsam::lago::findOdometricPath (const NonlinearFactorGraph &pose2Graph)
 
static void gtsam::lago::getDeltaThetaAndNoise (NonlinearFactor::shared_ptr factor, Vector &deltaTheta, noiseModel::Diagonal::shared_ptr &model_deltaTheta)
 
void gtsam::lago::getSymbolicGraph (vector< size_t > &spanningTreeIds, vector< size_t > &chordsIds, key2doubleMap &deltaThetaMap, const PredecessorMap &tree, const NonlinearFactorGraph &g)
 
Values gtsam::lago::initialize (const NonlinearFactorGraph &graph, bool useOdometricPath)
 
Values gtsam::lago::initialize (const NonlinearFactorGraph &graph, const Values &initialGuess)
 
VectorValues gtsam::lago::initializeOrientations (const NonlinearFactorGraph &graph, bool useOdometricPath)
 

Variables

static const Matrix gtsam::lago::I = I_1x1
 
static const Matrix gtsam::lago::I3 = I_3x3
 
static const noiseModel::Diagonal::shared_ptr gtsam::lago::priorOrientationNoise
 
static const noiseModel::Diagonal::shared_ptr gtsam::lago::priorPose2Noise
 


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autogenerated on Tue Jul 4 2023 02:40:49