Public Member Functions
	Experiment (const std::string &filename)
	Construct with filename of experiment to run. More...

	Experiment (const std::string &filename, bool isWithAmbiguity=false)
	Construct with filename of experiment to run. More...

void	run ()
	Run the main experiment with a given maxLoopCount. More...

void	run ()
	Run the main experiment with a given maxLoopCount. More...

Public Attributes
bool	isWithAmbiguity

double	marginalThreshold = 0.9999

size_t	maxLoopCount = 8000

size_t	maxNrHypotheses = 10

size_t	reLinearizationFrequency = 10

size_t	updateFrequency = 3

Private Member Functions
HybridNonlinearFactor	hybridLoopClosureFactor (size_t loopCounter, size_t keyS, size_t keyT, const Pose2 &measurement) const
	Create a hybrid loop closure factor where 0 - loose noise model and 1 - loop noise model. More...

HybridNonlinearFactor	hybridOdometryFactor (size_t numMeasurements, size_t keyS, size_t keyT, const DiscreteKey &m, const std::vector< Pose2 > &poseArray) const
	Create hybrid odometry factor with discrete measurement choices. More...

clock_t	reInitialize ()
	Re-linearize, solve ALL, and re-initialize smoother. More...

clock_t	smootherUpdate (size_t maxNrHypotheses)
	Perform smoother update and optimize the graph. More...

Private Attributes
HybridNonlinearFactorGraph	allFactors_

City10000Dataset	dataset_
	The City10000 dataset. More...

NonlinearFactorGraph	graph_

Values	initial_

ISAM2	isam2_

HybridNonlinearFactorGraph	newFactors_

Values	results

HybridSmoother	smoother_

Detailed Description

Definition at line 47 of file Hybrid_City10000.cpp.

Constructor & Destructor Documentation

◆ Experiment() [1/2]

Experiment::Experiment ( const std::string & filename )

inlineexplicit

Construct with filename of experiment to run.

Definition at line 139 of file Hybrid_City10000.cpp.

◆ Experiment() [2/2]

Experiment::Experiment	(	const std::string &	filename,
		bool	isWithAmbiguity = `false`
	)

inlineexplicit

Construct with filename of experiment to run.

Definition at line 63 of file ISAM2_City10000.cpp.

Member Function Documentation

◆ hybridLoopClosureFactor()

HybridNonlinearFactor Experiment::hybridLoopClosureFactor	(	size_t	loopCounter,
		size_t	keyS,
		size_t	keyT,
		const Pose2 &	measurement
	)		const

inlineprivate

Create a hybrid loop closure factor where 0 - loose noise model and 1 - loop noise model.

Definition at line 76 of file Hybrid_City10000.cpp.

◆ hybridOdometryFactor()

HybridNonlinearFactor Experiment::hybridOdometryFactor	(	size_t	numMeasurements,
		size_t	keyS,
		size_t	keyT,
		const DiscreteKey &	m,
		const std::vector< Pose2 > &	poseArray
	)		const

inlineprivate

Create hybrid odometry factor with discrete measurement choices.

Definition at line 93 of file Hybrid_City10000.cpp.

◆ reInitialize()

clock_t Experiment::reInitialize ( )

inlineprivate

Re-linearize, solve ALL, and re-initialize smoother.

Definition at line 121 of file Hybrid_City10000.cpp.

◆ run() [1/2]

void Experiment::run ( )

inline

Run the main experiment with a given maxLoopCount.

Write results to file

Definition at line 73 of file ISAM2_City10000.cpp.

◆ run() [2/2]

void Experiment::run ( )

inline

Run the main experiment with a given maxLoopCount.

Definition at line 143 of file Hybrid_City10000.cpp.

◆ smootherUpdate()

clock_t Experiment::smootherUpdate ( size_t maxNrHypotheses )

inlineprivate

Perform smoother update and optimize the graph.

Definition at line 108 of file Hybrid_City10000.cpp.

Member Data Documentation

◆ allFactors_

HybridNonlinearFactorGraph Experiment::allFactors_

private

Definition at line 69 of file Hybrid_City10000.cpp.

◆ dataset_

City10000Dataset Experiment::dataset_

private

The City10000 dataset.

Definition at line 49 of file Hybrid_City10000.cpp.

◆ graph_

NonlinearFactorGraph Experiment::graph_

private

Definition at line 57 of file ISAM2_City10000.cpp.

◆ initial_

Values Experiment::initial_

private

Definition at line 70 of file Hybrid_City10000.cpp.

◆ isam2_

ISAM2 Experiment::isam2_

private

Definition at line 56 of file ISAM2_City10000.cpp.

◆ isWithAmbiguity

bool Experiment::isWithAmbiguity

Definition at line 53 of file ISAM2_City10000.cpp.

◆ marginalThreshold

double Experiment::marginalThreshold = 0.9999

Definition at line 65 of file Hybrid_City10000.cpp.

◆ maxLoopCount

size_t Experiment::maxLoopCount = 8000

Definition at line 53 of file Hybrid_City10000.cpp.

◆ maxNrHypotheses

size_t Experiment::maxNrHypotheses = 10

Definition at line 61 of file Hybrid_City10000.cpp.

◆ newFactors_

HybridNonlinearFactorGraph Experiment::newFactors_

private

Definition at line 69 of file Hybrid_City10000.cpp.

◆ reLinearizationFrequency

size_t Experiment::reLinearizationFrequency = 10

Definition at line 63 of file Hybrid_City10000.cpp.

◆ results

Values Experiment::results

private

Definition at line 59 of file ISAM2_City10000.cpp.

◆ smoother_

HybridSmoother Experiment::smoother_

private

Definition at line 68 of file Hybrid_City10000.cpp.

◆ updateFrequency

size_t Experiment::updateFrequency = 3

Definition at line 59 of file Hybrid_City10000.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Experiment() [1/2]

◆ Experiment() [2/2]

Member Function Documentation

◆ hybridLoopClosureFactor()

◆ hybridOdometryFactor()

◆ reInitialize()

◆ run() [1/2]

◆ run() [2/2]

◆ smootherUpdate()

Member Data Documentation

◆ allFactors_

◆ dataset_

◆ graph_

◆ initial_

◆ isam2_

◆ isWithAmbiguity

◆ marginalThreshold

◆ maxLoopCount

◆ maxNrHypotheses

◆ newFactors_

◆ reLinearizationFrequency

◆ results

◆ smoother_

◆ updateFrequency