graphslam/include/mrpt/graphslam/types.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */
#ifndef GRAPH_SLAM_TYPES_H
#define GRAPH_SLAM_TYPES_H

#include <mrpt/graphs/CNetworkOfPoses.h>
#include <mrpt/poses/SE_traits.h>
#include <functional>

namespace mrpt
{
/** SLAM methods related to graphs of pose constraints
          * \sa mrpt::graphs::CNetworkOfPoses   \ingroup mrpt_graphslam_grp
          */
namespace graphslam
{
/** \addtogroup mrpt_graphslam_grp
  *  @{ */

/** Auxiliary traits template for use among graph-slam problems to make life
 * easier with these complicated, long data type names
  * \tparam GRAPH_T This will typically be any
 * mrpt::graphs::CNetworkOfPoses<...>
  */
template <class GRAPH_T>
struct graphslam_traits
{
        /** Typ:  mrpt::graphs::CNetworkOfPoses<...> */
        typedef GRAPH_T graph_t;
        typedef typename graph_t::edges_map_t::const_iterator edge_const_iterator;
        typedef typename graph_t::constraint_t edge_t;
        typedef typename edge_t::type_value edge_poses_type;
        typedef mrpt::poses::SE_traits<edge_poses_type::rotation_dimensions>
                SE_TYPE;
        typedef typename SE_TYPE::matrix_VxV_t matrix_VxV_t;
        typedef typename SE_TYPE::array_t Array_O;  // An array of the correct size
        // for an "observation" (i.e. a
        // relative pose in an edge)
        typedef std::pair<matrix_VxV_t, matrix_VxV_t> TPairJacobs;
        typedef typename mrpt::aligned_containers<mrpt::utils::TPairNodeIDs,
                                                                                          TPairJacobs>::multimap_t
                map_pairIDs_pairJacobs_t;

        /** Auxiliary struct used in graph-slam implementation: It holds the
         * relevant information for each of the constraints being taking into
         * account. */
        struct observation_info_t
        {
                typedef graphslam_traits<GRAPH_T> gst;
                // Data:
                typename gst::edge_const_iterator edge;
                const typename gst::graph_t::constraint_t::type_value* edge_mean;
                typename gst::graph_t::constraint_t::type_value *P1, *P2;
        };

        using TFunctorFeedback = std::function<void(
                const GRAPH_T& graph, const size_t iter, const size_t max_iter,
                const double cur_sq_error)>;
};

/** Output information for mrpt::graphslam::optimize_graph_spa_levmarq() */
struct TResultInfoSpaLevMarq
{
        /** The number of LM iterations executed. */
        size_t num_iters;
        /** The sum of all the squared errors for every constraint involved in the
         * problem. */
        double final_total_sq_error;
};

/**  @} */  // end of grouping

}  // End of namespace
}  // End of namespace

#endif