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lago.h
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/* ----------------------------------------------------------------------------
* GTSAM Copyright 2010, Georgia Tech Research Corporation,
* Atlanta, Georgia 30332-0415
* All Rights Reserved
* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
* See LICENSE for the license information
* -------------------------------------------------------------------------- */
#pragma once
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/linear/GaussianFactorGraph.h>
#include <gtsam/linear/VectorValues.h>
#include <gtsam/inference/graph.h>
namespace gtsam {
namespace lago {
typedef std::map<Key, double> key2doubleMap;
GTSAM_EXPORT key2doubleMap computeThetasToRoot(
const key2doubleMap& deltaThetaMap, const PredecessorMap<Key>& tree);
GTSAM_EXPORT void getSymbolicGraph(
/*OUTPUTS*/std::vector<size_t>& spanningTreeIds, std::vector<size_t>& chordsIds,
key2doubleMap& deltaThetaMap,
/*INPUTS*/const PredecessorMap<Key>& tree, const NonlinearFactorGraph& g);
GTSAM_EXPORT GaussianFactorGraph buildLinearOrientationGraph(
const std::vector<size_t>& spanningTreeIds,
const std::vector<size_t>& chordsIds, const NonlinearFactorGraph& g,
const key2doubleMap& orientationsToRoot, const PredecessorMap<Key>& tree);
GTSAM_EXPORT VectorValues initializeOrientations(
const NonlinearFactorGraph& graph, bool useOdometricPath = true);
GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
bool useOdometricPath = true);
GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
const Values& initialGuess);
} // end of namespace lago
} // end of namespace gtsam
graph.h
Graph algorithm using boost library.
VectorValues.h
Factor Graph Values.
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
NonlinearFactorGraph.h
Factor Graph consisting of non-linear factors.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28