lago.h
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1 /* ----------------------------------------------------------------------------
2 
3  * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4  * Atlanta, Georgia 30332-0415
5  * All Rights Reserved
6  * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7 
8  * See LICENSE for the license information
9 
10  * -------------------------------------------------------------------------- */
11 
35 #pragma once
36 
40 
41 namespace gtsam {
42 namespace lago {
43 
44 typedef std::map<Key, double> key2doubleMap;
45 typedef std::map<Key, Key> PredecessorMap;
46 
52  const key2doubleMap& deltaThetaMap, const PredecessorMap& tree);
53 
62 GTSAM_EXPORT void getSymbolicGraph(
63 /*OUTPUTS*/std::vector<size_t>& spanningTreeIds, std::vector<size_t>& chordsIds,
64  key2doubleMap& deltaThetaMap,
65  /*INPUTS*/const PredecessorMap& tree, const NonlinearFactorGraph& g);
66 
69  const std::vector<size_t>& spanningTreeIds,
70  const std::vector<size_t>& chordsIds, const NonlinearFactorGraph& g,
71  const key2doubleMap& orientationsToRoot, const PredecessorMap& tree);
72 
78  const NonlinearFactorGraph& pose2Graph);
79 
82  const NonlinearFactorGraph& graph, bool useOdometricPath = true);
83 
85 GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
86  bool useOdometricPath = true);
87 
89 GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
90  const Values& initialGuess);
91 
92 } // end of namespace lago
93 } // end of namespace gtsam
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
tree
Definition: testExpression.cpp:212
gtsam::lago::computeThetasToRoot
key2doubleMap computeThetasToRoot(const key2doubleMap &deltaThetaMap, const PredecessorMap &tree)
Definition: lago.cpp:82
gtsam::lago::getSymbolicGraph
void getSymbolicGraph(vector< size_t > &spanningTreeIds, vector< size_t > &chordsIds, key2doubleMap &deltaThetaMap, const PredecessorMap &tree, const NonlinearFactorGraph &g)
Definition: lago.cpp:101
gtsam::lago::PredecessorMap
std::map< Key, Key > PredecessorMap
Definition: lago.h:45
gtsam::GaussianFactorGraph
Definition: GaussianFactorGraph.h:73
gtsam::VectorValues
Definition: VectorValues.h:74
gtsam::NonlinearFactorGraph
Definition: NonlinearFactorGraph.h:55
VectorValues.h
Factor Graph Values.
gtsam::lago::initializeOrientations
VectorValues initializeOrientations(const NonlinearFactorGraph &graph, bool useOdometricPath)
Definition: lago.cpp:297
g
void g(const string &key, int i)
Definition: testBTree.cpp:41
gtsam::lago::findMinimumSpanningTree
PredecessorMap findMinimumSpanningTree(const NonlinearFactorGraph &pose2Graph)
Definition: lago.cpp:229
gtsam
traits
Definition: SFMdata.h:40
NonlinearFactorGraph.h
Factor Graph consisting of non-linear factors.
gtsam::Values
Definition: Values.h:65
gtsam::lago::buildLinearOrientationGraph
GaussianFactorGraph buildLinearOrientationGraph(const vector< size_t > &spanningTreeIds, const vector< size_t > &chordsIds, const NonlinearFactorGraph &g, const key2doubleMap &orientationsToRoot, const PredecessorMap &tree)
Definition: lago.cpp:165
gtsam::lago::key2doubleMap
std::map< Key, double > key2doubleMap
Definition: lago.h:44
graph
NonlinearFactorGraph graph
Definition: doc/Code/OdometryExample.cpp:2
gtsam::lago::initialize
Values initialize(const NonlinearFactorGraph &graph, bool useOdometricPath)
Definition: lago.cpp:375


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autogenerated on Fri Nov 1 2024 03:33:03