gcop::Posegraph2d Class Reference

#include <posegraph2d.h>

List of all members.

Public Member Functions
	Posegraph2d (int N, int nf)
void	Optp (VectorXd &p, const vector< Matrix3d > &gs)
Static Public Member Functions
static void	Synthesize (Posegraph2d &pgt, Posegraph2d &pgn, double tf)
static void	Synthesize2 (Posegraph2d &pgt, Posegraph2d &pgn, double tf)
Public Attributes
vector< double >	ts
	sequence of times (N+1 vector)
vector< Matrix3d >	gs
	sequence of poses (N+1 vector)
vector< Vector3d >	us
	sequence of inputs (N vector)
VectorXd	p
	feature positions (2*nf vector)
vector< vector< pair< int, Vector2d > > >	Is
	N+1-vector of vectors of visible pose-to-feature indices.
vector< vector< pair< int, Vector2d > > >	Js
	nf-vector of vectors of feature-to-pose indices indices
double	cp
	noise covariance of poses (assume spherical)

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Detailed Description

Pose-graph in 2D. This is the simplese possible definition assuming point (unprojected) features e.g. from stereo/laser scans with uniform spherical covariance. The framework can be easily extended to any general 2d/3d non-uniform or projected features as well.

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Constructor & Destructor Documentation

Posegraph2d::Posegraph2d	(	int	N,
		int	nf
	)

Pose-landmark graph

Parameters:

N	number of trajectory segments
nf	number of features (landmarks)

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Member Function Documentation

void Posegraph2d::Optp	(	VectorXd &	p,
		const vector< Matrix3d > &	gs
	)

Given a sequence of poses gs, compute the optimal feature locations p

Parameters:

p	a vector of feature locations
gs	a given vector of poses in SE(2)

References Js.

Referenced by Synthesize(), and Synthesize2().

void Posegraph2d::Synthesize	(	Posegraph2d &	pgt,
		Posegraph2d &	pgn,
		double	tf
	)		[static]

Create true and noisy synthetic pose graphs

Parameters:

pgt	true pose graph
pgn	noisy pose graph
tf	total trajectory time

References gcop::SE2::cay(), cp, gs, gcop::SE2::Instance(), Is, Js, Optp(), p, gcop::random_normal(), ts, and us.

void Posegraph2d::Synthesize2	(	Posegraph2d &	pgt,
		Posegraph2d &	pgn,
		double	tf
	)		[static]

Create true and noisy synthetic pose graphs

Parameters:

pgt	true pose graph
pgn	noisy pose graph
tf	total trajectory time

References gcop::SE2::cay(), cp, gs, gcop::SE2::Instance(), Is, Js, Optp(), p, gcop::random_normal(), ts, and us.

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Member Data Documentation

double gcop::Posegraph2d::cp

noise covariance of poses (assume spherical)

Referenced by gcop::BaCost::L(), Synthesize(), and Synthesize2().

vector<Matrix3d> gcop::Posegraph2d::gs

sequence of poses (N+1 vector)

Referenced by gcop::Posegraph2dView::RenderFrame(), Synthesize(), and Synthesize2().

vector< vector<pair<int, Vector2d> > > gcop::Posegraph2d::Is

N+1-vector of vectors of visible pose-to-feature indices.

Referenced by gcop::BaCost::L(), Synthesize(), and Synthesize2().

vector< vector<pair<int, Vector2d> > > gcop::Posegraph2d::Js

nf-vector of vectors of feature-to-pose indices indices

Referenced by Optp(), gcop::Posegraph2dView::RenderFrame(), Synthesize(), and Synthesize2().

VectorXd gcop::Posegraph2d::p

feature positions (2*nf vector)

Referenced by gcop::Posegraph2dView::RenderFrame(), Synthesize(), and Synthesize2().

vector<double> gcop::Posegraph2d::ts

sequence of times (N+1 vector)

Referenced by Synthesize(), and Synthesize2().

vector<Vector3d> gcop::Posegraph2d::us

sequence of inputs (N vector)

Referenced by Synthesize(), and Synthesize2().

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

• lib/algos/posegraph2d.h
• lib/algos/posegraph2d.cc