treeoptimizer2.h

Go to the documentation of this file.

/**********************************************************************
 *
 * This source code is part of the Tree-based Network Optimizer (TORO)
 *
 * TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, 
 *                         Slawomir Grzonka, and Wolfram Burgard
 *
 * TORO is licences under the Common Creative License,
 * Attribution-NonCommercial-ShareAlike 3.0
 *
 * You are free:
 *   - to Share - to copy, distribute and transmit the work
 *   - to Remix - to adapt the work
 *
 * Under the following conditions:
 *
 *   - Attribution. You must attribute the work in the manner specified
 *     by the author or licensor (but not in any way that suggests that
 *     they endorse you or your use of the work).
 *  
 *   - Noncommercial. You may not use this work for commercial purposes.
 *  
 *   - Share Alike. If you alter, transform, or build upon this work,
 *     you may distribute the resulting work only under the same or
 *     similar license to this one.
 *
 * Any of the above conditions can be waived if you get permission
 * from the copyright holder.  Nothing in this license impairs or
 * restricts the author's moral rights.
 *
 * TORO is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied 
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
 * PURPOSE.  
 **********************************************************************/
 
#ifndef _TREEOPTIMIZER2_HH_
#define _TREEOPTIMIZER2_HH_
 
#include "posegraph2.h"
 
namespace AISNavigation {
 
struct TreeOptimizer2: public TreePoseGraph2{
  typedef std::vector<Pose> PoseVector;
 
  TreeOptimizer2();
 
  virtual ~TreeOptimizer2();
 
  void initializeTreeParameters();
 
  void initializeOptimization();
 
  void initializeOnlineOptimization();
  
  void iterate(TreePoseGraph2::EdgeSet* eset=0);
 
  double error() const;
 
protected:
  void computePreconditioner();
 
  void propagateErrors();
 
  void updatePoseChain(Vertex* v, Vertex* top);
 
  Pose getPose(Vertex*v, Vertex* top);
 
  double error(const Edge* e) const;
 
  int iteration;
 
  double gamma[3];
 
  PoseVector M;
 
};
 
}; //namespace AISNavigation
#endif