treeoptimizer3.hh

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/**********************************************************************
 *
 * This source code is part of the Tree-based Network Optimizer (TORO)
 *
 * TORO Copyright (c) 2007 Giorgio Grisetti, Cyrill Stachniss, and
 * Wolfram Burgard
 *
 * TORO is licences under the Common Creative License,
 * Attribution-NonCommercial-ShareAlike 3.0
 *
 * You are free:
 *   - to Share - to copy, distribute and transmit the work
 *   - to Remix - to adapt the work
 *
 * Under the following conditions:
 *
 *   - Attribution. You must attribute the work in the manner specified
 *     by the author or licensor (but not in any way that suggests that
 *     they endorse you or your use of the work).
 *  
 *   - Noncommercial. You may not use this work for commercial purposes.
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 *   - Share Alike. If you alter, transform, or build upon this work,
 *     you may distribute the resulting work only under the same or
 *     similar license to this one.
 *
 * Any of the above conditions can be waived if you get permission
 * from the copyright holder.  Nothing in this license impairs or
 * restricts the author's moral rights.
 *
 * TORO is distributed in the hope that it will be useful,
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 **********************************************************************/

#ifndef _TREEOPTIMIZER3_HH_
#define _TREEOPTIMIZER3_HH_

#include "posegraph3.hh"

struct TreeOptimizer3: public TreePoseGraph3{
  typedef std::vector<Pose> PoseVector;

  TreeOptimizer3();

  virtual ~TreeOptimizer3();

  void initializeTreeParameters();

  void initializeOptimization(EdgeCompareMode mode=EVComparator<Edge*>::CompareLevel);

  void initializeOnlineOptimization(EdgeCompareMode mode=EVComparator<Edge*>::CompareLevel);

  void initializeOnlineIterations();

  void iterate(TreePoseGraph3::EdgeSet* eset=0, bool noPreconditioner=false);

  double error(double* mre=0, double* mte=0, double* are=0, double* ate=0, TreePoseGraph3::EdgeSet* eset=0) const;

  double angularError() const;

  double translationalError() const;

  bool restartOnDivergence;

  inline double getRotGain() const {return rotGain;} 

  int iteration;

  void recomputeAllTransformations();

protected:

  Transformation getPose(Vertex*v, Vertex* top);

  Rotation getRotation(Vertex*v, Vertex* top);

  void recomputeTransformations(Vertex*v, Vertex* top);

  void recomputeParameters(Vertex*v, Vertex* top);

  void computePreconditioner();

  void propagateErrorsPreconditioner();

  void propagateErrors();

  double error(const Edge* e) const;


  double translationalError(const Edge* e) const;

  double rotationalError(const Edge* e) const;

  double traslationalError(const Edge* e) const;
  

  double gamma[2];

  struct PM_t{
    double v [2];
    inline double& operator[](int i){return v[i];}
  };
  typedef std::vector< PM_t > PMVector;
  PMVector M;

  int mpl;
  std::vector<double> maxRotationalErrors;
  std::vector<double> maxTranslationalErrors;
  double rotGain, trasGain;

  virtual void onStepStart(Edge* e);
  virtual void onStepFinished(Edge* e);
  virtual void onIterationStart(int iteration);
  virtual void onIterationFinished(int iteration);
  virtual bool isDone();
  
};

#endif

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