gtsam  4.1.0
gtsam
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 #include <gtsam/inference/graph.h>
41 
42 namespace gtsam {
43 namespace lago {
44 
45 typedef std::map<Key, double> key2doubleMap;
46 
51 GTSAM_EXPORT key2doubleMap computeThetasToRoot(
52  const key2doubleMap& deltaThetaMap, const PredecessorMap<Key>& 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<Key>& tree, const NonlinearFactorGraph& g);
66 
68 GTSAM_EXPORT GaussianFactorGraph buildLinearOrientationGraph(
69  const std::vector<size_t>& spanningTreeIds,
70  const std::vector<size_t>& chordsIds, const NonlinearFactorGraph& g,
71  const key2doubleMap& orientationsToRoot, const PredecessorMap<Key>& tree);
72 
74 GTSAM_EXPORT VectorValues initializeOrientations(
75  const NonlinearFactorGraph& graph, bool useOdometricPath = true);
76 
78 GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
79  bool useOdometricPath = true);
80 
82 GTSAM_EXPORT Values initialize(const NonlinearFactorGraph& graph,
83  const Values& initialGuess);
84 
85 } // end of namespace lago
86 } // end of namespace gtsam
GaussianFactorGraph.h
Linear Factor Graph where all factors are Gaussians.
VectorValues.h
Factor Graph Values.
NonlinearFactorGraph.h
Factor Graph Constsiting of non-linear factors.
gtsam
Global functions in a separate testing namespace.
Definition: chartTesting.h:28
graph.h
Graph algorithm using boost library.