graph_slam_levmarq_test_common.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */


#include <mrpt/graphslam/types.h>
#include <mrpt/graphslam/levmarq.h>
#include <mrpt/graphs.h>
#include <mrpt/random.h>
#include <mrpt/utils/CMemoryStream.h>

using namespace mrpt;
using namespace mrpt::random;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::graphs;
using namespace mrpt::math;
using namespace std;

template <class my_graph_t>
class GraphSlamLevMarqTest
{
public:
        // adds a new edge to the graph. The edge is annotated with the relative position of the two nodes
        static void addEdge(TNodeID from, TNodeID to, const typename my_graph_t::global_poses_t &real_poses,my_graph_t &graph)
        {
                typename my_graph_t::edge_t RelativePose = real_poses.find(to)->second - real_poses.find(from)->second;
                graph.insertEdge(from,to, RelativePose );
        }

        // The graph: nodes + edges:
        static void create_ring_path(
                my_graph_t & graph,
                size_t N_VERTEX = 50,
                double DIST_THRES = 7,
                double NODES_XY_MAX = 20)
        {
                // The global poses of each node (without covariance):
                typename my_graph_t::global_poses_t  real_node_poses;

                // ----------------------------
                // Create a random graph:
                // ----------------------------
                // Level of noise in nodes initial positions:
                const double STD_NOISE_NODE_XYZ = 0.5;
                const double STD_NOISE_NODE_ANG = DEG2RAD(5);

                // Level of noise in edges:
                const double STD_NOISE_EDGE_XYZ = 0; //0.01;
                const double STD_NOISE_EDGE_ANG = 0; //DEG2RAD(0.1);


                for (TNodeID j=0;j<N_VERTEX;j++)
                {
                        static double ang = 2*M_PI/N_VERTEX;
                        const double R = NODES_XY_MAX + 2 * (j % 2 ? 1:-1);
                        CPose2D p(
                                R*cos(ang*j),
                                R*sin(ang*j),
                                ang);

                        // Save real pose:
                        real_node_poses[j] = p;

                        // Copy the nodes to the graph, and add some noise:
                        graph.nodes[j] = p;
                }


                // Add some edges
                for (TNodeID i=0;i<N_VERTEX;i++)
                {
                        for (TNodeID j=i+1;j<N_VERTEX;j++)
                        {
                                if ( real_node_poses[i].distanceTo(real_node_poses[j]) < DIST_THRES )
                                        addEdge(i,j,real_node_poses,graph);
                        }
                }

                // Cross-links:
                addEdge(0,N_VERTEX/2,real_node_poses,graph);

                // The root node (the origin of coordinates):
                graph.root = TNodeID(0);

                // This is the ground truth graph (make a copy for later use):
                const my_graph_t  graph_GT = graph;

                // Add noise to edges & nodes:
                for (typename my_graph_t::edges_map_t::iterator itEdge=graph.edges.begin();itEdge!=graph.edges.end();++itEdge)
                        itEdge->second += typename my_graph_t::edge_t( CPose3D(
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_XYZ),
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_XYZ),
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_XYZ),
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_ANG),
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_ANG),
                                randomGenerator.drawGaussian1D(0,STD_NOISE_EDGE_ANG) ) );

                for (typename my_graph_t::global_poses_t::iterator itNode=graph.nodes.begin();itNode!=graph.nodes.end();++itNode)
                        if (itNode->first!=graph.root)
                                itNode->second += typename my_graph_t::edge_t::type_value( CPose3D(
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_XYZ),
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_XYZ),
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_XYZ),
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_ANG),
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_ANG),
                                        randomGenerator.drawGaussian1D(0,STD_NOISE_NODE_ANG) ) );
        }
};