gtsam.examples.HybridCity10000.Experiment Class Reference

Public Member Functions
def	__init__ (self, str filename, float marginal_threshold=0.9999, int max_loop_count=150, int update_frequency=3, int max_num_hypotheses=10, int relinearization_frequency=10, bool plot_hypotheses=False)
def	hybrid_loop_closure_factor (self, loop_counter, key_s, key_t, Pose2 measurement)
HybridNonlinearFactor	hybrid_odometry_factor (self, key_s, key_t, m, pose_array)
def	plot_all_hypotheses (self, discrete_keys, num_poses, num_iters=0)
float	reinitialize (self)
def	run (self)
def	save_results (self, result, final_key, time_list)
float	smoother_update (self, max_num_hypotheses)
def	write_result (self, result, num_poses, filename="Hybrid_city10000.txt")
def	write_timing_info (self, time_list, time_filename="Hybrid_City10000_time.txt")

Public Attributes
	dataset_
	initial_
	max_loop_count
	max_num_hypotheses
	new_factors_
	plot_hypotheses
	relinearization_frequency
	smoother_
	update_frequency

Detailed Description

Experiment Class

Definition at line 178 of file HybridCity10000.py.

Constructor & Destructor Documentation

__init__()

def gtsam.examples.HybridCity10000.Experiment.__init__	(		self,
		str	filename,
		float	marginal_threshold = 0.9999,
		int	max_loop_count = 150,
		int	update_frequency = 3,
		int	max_num_hypotheses = 10,
		int	relinearization_frequency = 10,
		bool	plot_hypotheses = False
	)

Definition at line 181 of file HybridCity10000.py.

Member Function Documentation

hybrid_loop_closure_factor()

def gtsam.examples.HybridCity10000.Experiment.hybrid_loop_closure_factor	(		self,
			loop_counter,
			key_s,
			key_t,
		Pose2	measurement
	)

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

Definition at line 201 of file HybridCity10000.py.

hybrid_odometry_factor()

HybridNonlinearFactor gtsam.examples.HybridCity10000.Experiment.hybrid_odometry_factor	(		self,
			key_s,
			key_t,
			m,
			pose_array
	)

Create hybrid odometry factor with discrete measurement choices.

Definition at line 216 of file HybridCity10000.py.

plot_all_hypotheses()

def gtsam.examples.HybridCity10000.Experiment.plot_all_hypotheses	(		self,
			discrete_keys,
			num_poses,
			num_iters = 0
	)

Plot all possible hypotheses.

Definition at line 376 of file HybridCity10000.py.

reinitialize()

float gtsam.examples.HybridCity10000.Experiment.reinitialize

(

self

)

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

Definition at line 239 of file HybridCity10000.py.

run()

def gtsam.examples.HybridCity10000.Experiment.run

(

self

)

Run the main experiment with a given max_loop_count.

Definition at line 249 of file HybridCity10000.py.

save_results()

def gtsam.examples.HybridCity10000.Experiment.save_results	(		self,
			result,
			final_key,
			time_list
	)

Save results to file.

Definition at line 440 of file HybridCity10000.py.

smoother_update()

float gtsam.examples.HybridCity10000.Experiment.smoother_update	(		self,
			max_num_hypotheses
	)

Perform smoother update and optimize the graph.

Definition at line 229 of file HybridCity10000.py.

write_result()

def gtsam.examples.HybridCity10000.Experiment.write_result	(		self,
			result,
			num_poses,
			filename = "Hybrid_city10000.txt"
	)

Write the result of optimization to file.

Args:
    result (Values): he Values object with the final result.
    num_poses (int): The number of poses to write to the file.
    filename (str): The file name to save the result to.

Definition at line 448 of file HybridCity10000.py.

write_timing_info()

def gtsam.examples.HybridCity10000.Experiment.write_timing_info	(		self,
			time_list,
			time_filename = "Hybrid_City10000_time.txt"
	)

Log all the timing information to a file

Definition at line 466 of file HybridCity10000.py.

Member Data Documentation

dataset_

gtsam.examples.HybridCity10000.Experiment.dataset_

Definition at line 182 of file HybridCity10000.py.

initial_

gtsam.examples.HybridCity10000.Experiment.initial_

Definition at line 190 of file HybridCity10000.py.

max_loop_count

gtsam.examples.HybridCity10000.Experiment.max_loop_count

Definition at line 183 of file HybridCity10000.py.

max_num_hypotheses

gtsam.examples.HybridCity10000.Experiment.max_num_hypotheses

Definition at line 185 of file HybridCity10000.py.

new_factors_

gtsam.examples.HybridCity10000.Experiment.new_factors_

Definition at line 189 of file HybridCity10000.py.

plot_hypotheses

gtsam.examples.HybridCity10000.Experiment.plot_hypotheses

Definition at line 192 of file HybridCity10000.py.

relinearization_frequency

gtsam.examples.HybridCity10000.Experiment.relinearization_frequency

Definition at line 186 of file HybridCity10000.py.

smoother_

gtsam.examples.HybridCity10000.Experiment.smoother_

Definition at line 188 of file HybridCity10000.py.

update_frequency

gtsam.examples.HybridCity10000.Experiment.update_frequency

Definition at line 184 of file HybridCity10000.py.

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

• HybridCity10000.py