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<div class="title">levmarq_impl.h</div> </div>
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<a href="levmarq__impl_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef GRAPH_SLAM_LEVMARQ_IMPL_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define GRAPH_SLAM_LEVMARQ_IMPL_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_network_of_poses_8h.html">mrpt/graphs/CNetworkOfPoses.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_time_logger_8h.html">mrpt/utils/CTimeLogger.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_sparse_matrix_8h.html">mrpt/math/CSparseMatrix.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <memory></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>graphslam
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt;
<a name="l00042"></a>00042 <span class="keyword">using namespace </span>mrpt::poses;
<a name="l00043"></a>00043 <span class="keyword">using namespace </span>mrpt::graphslam;
<a name="l00044"></a>00044 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00045"></a>00045 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00046"></a>00046 <span class="keyword">using namespace </span>std;
<a name="l00047"></a>00047 <span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"> /// Internal auxiliary classes</span>
<a name="l00049"></a><a class="code" href="namespacemrpt_1_1graphslam_1_1detail.html">00049</a> <span class="comment"></span> <span class="keyword">namespace </span>detail
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="comment">// An auxiliary struct to compute the pseudo-ln of a pose error, possibly modified with an information matrix.</span>
<a name="l00052"></a>00052 <span class="comment">// Specializations are below.</span>
<a name="l00053"></a>00053 <span class="keyword">template</span> <<span class="keyword">class</span> EDGE,<span class="keyword">class</span> gst> <span class="keyword">struct </span>AuxErrorEval;
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="comment">// For graphs of 2D constraints (no information matrix)</span>
<a name="l00056"></a>00056 <span class="keyword">template</span> <<span class="keyword">class</span> gst> <span class="keyword">struct </span>AuxErrorEval<CPose2D,gst> {
<a name="l00057"></a>00057 <span class="keyword">template</span> <<span class="keyword">class</span> POSE,<span class="keyword">class</span> VEC,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00058"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a572d36df0b86f1338bcc72b6051bbaf1">00058</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a572d36df0b86f1338bcc72b6051bbaf1">computePseudoLnError</a>(<span class="keyword">const</span> POSE &P1DP2inv, VEC &err,<span class="keyword">const</span> EDGE_ITERATOR &edge) { gst::SE_TYPE::pseudo_ln(P1DP2inv, err); }
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00061"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#af35304db5ee9b85dbf77b5056920744f">00061</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#af35304db5ee9b85dbf77b5056920744f">multiplyJtLambdaJ</a>(<span class="keyword">const</span> MAT &J1, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtA(J1); }
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00064"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#aeafac6308a83df88b28ccf5b32092c14">00064</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#aeafac6308a83df88b28ccf5b32092c14">multiplyJ1tLambdaJ2</a>(<span class="keyword">const</span> MAT &J1, <span class="keyword">const</span> MAT &J2, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtB(J1,J2); }
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keyword">template</span> <<span class="keyword">class</span> JAC,<span class="keyword">class</span> EDGE_ITERATOR,<span class="keyword">class</span> VEC1,<span class="keyword">class</span> VEC2>
<a name="l00067"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a50b77aa57ebcc19ac8828403c4242760">00067</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose2_d_00_01gst_01_4.html#a50b77aa57ebcc19ac8828403c4242760">multiply_Jt_W_err</a>(<span class="keyword">const</span> JAC &J,<span class="keyword">const</span> EDGE_ITERATOR &edge,<span class="keyword">const</span> VEC1 & ERR,VEC2 &OUT) { J.multiply_Atb(ERR,OUT, <span class="keyword">true</span> <span class="comment">/* accumulate in output */</span> ); }
<a name="l00068"></a>00068 };
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="comment">// For graphs of 3D constraints (no information matrix)</span>
<a name="l00071"></a>00071 <span class="keyword">template</span> <<span class="keyword">class</span> gst> <span class="keyword">struct </span>AuxErrorEval<<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>,gst> {
<a name="l00072"></a>00072 <span class="keyword">template</span> <<span class="keyword">class</span> POSE,<span class="keyword">class</span> VEC,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00073"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#a0ce954e78812a9eebf52f067478c095c">00073</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#a0ce954e78812a9eebf52f067478c095c">computePseudoLnError</a>(<span class="keyword">const</span> POSE &P1DP2inv, VEC &err,<span class="keyword">const</span> EDGE_ITERATOR &edge) { gst::SE_TYPE::pseudo_ln(P1DP2inv, err); }
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00076"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#aa2918410a7dbc753797fea8db81ad678">00076</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#aa2918410a7dbc753797fea8db81ad678">multiplyJtLambdaJ</a>(<span class="keyword">const</span> MAT &J1, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtA(J1); }
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00079"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#ab45e02d221041b50befbb01d3737b3ea">00079</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#ab45e02d221041b50befbb01d3737b3ea">multiplyJ1tLambdaJ2</a>(<span class="keyword">const</span> MAT &J1, <span class="keyword">const</span> MAT &J2, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtB(J1,J2); }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keyword">template</span> <<span class="keyword">class</span> JAC,<span class="keyword">class</span> EDGE_ITERATOR,<span class="keyword">class</span> VEC1,<span class="keyword">class</span> VEC2>
<a name="l00082"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#af7b706babf9e05b02158950cdf81dea2">00082</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_00_01gst_01_4.html#af7b706babf9e05b02158950cdf81dea2">multiply_Jt_W_err</a>(<span class="keyword">const</span> JAC &J,<span class="keyword">const</span> EDGE_ITERATOR &edge,<span class="keyword">const</span> VEC1 & ERR,VEC2 &OUT) { J.multiply_Atb(ERR,OUT, <span class="keyword">true</span> <span class="comment">/* accumulate in output */</span> ); }
<a name="l00083"></a>00083 };
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="comment">// For graphs of 2D constraints (with information matrix)</span>
<a name="l00086"></a>00086 <span class="keyword">template</span> <<span class="keyword">class</span> gst> <span class="keyword">struct </span>AuxErrorEval<<a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html" title="A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the c...">CPosePDFGaussianInf</a>,gst> {
<a name="l00087"></a>00087 <span class="keyword">template</span> <<span class="keyword">class</span> POSE,<span class="keyword">class</span> VEC,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00088"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#a12cfed946a4eb1dc002231065cc134e3">00088</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> computePseudoLnError(<span class="keyword">const</span> POSE &P1DP2inv, VEC &err,<span class="keyword">const</span> EDGE_ITERATOR &edge)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 gst::SE_TYPE::pseudo_ln(P1DP2inv, err);
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00094"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#a6efbecfe5901af2e225fabedf829dbc2">00094</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#a6efbecfe5901af2e225fabedf829dbc2">multiplyJtLambdaJ</a>(<span class="keyword">const</span> MAT &J1, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtBC(J1,edge->second.cov_inv,J1); }
<a name="l00095"></a>00095 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00096"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#adaed643d9eccbe1bf6cef43ffde1033b">00096</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#adaed643d9eccbe1bf6cef43ffde1033b">multiplyJ1tLambdaJ2</a>(<span class="keyword">const</span> MAT &J1, <span class="keyword">const</span> MAT &J2, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtBC(J1,edge->second.cov_inv,J2); }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keyword">template</span> <<span class="keyword">class</span> JAC,<span class="keyword">class</span> EDGE_ITERATOR,<span class="keyword">class</span> VEC1,<span class="keyword">class</span> VEC2>
<a name="l00099"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose_p_d_f_gaussian_inf_00_01gst_01_4.html#a6aaa47747f2d28423a252cd4d5b806fc">00099</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> multiply_Jt_W_err(<span class="keyword">const</span> JAC &J,<span class="keyword">const</span> EDGE_ITERATOR &edge,<span class="keyword">const</span> VEC1 & ERR,VEC2 &OUT)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> JtInf(<a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73aa28acc66160006cb691487ec89f8d266d">UNINITIALIZED_MATRIX</a>);
<a name="l00102"></a>00102 JtInf.multiply_AtB(J,edge->second.cov_inv);
<a name="l00103"></a>00103 JtInf.multiply_Ab(ERR,OUT, <span class="keyword">true</span> <span class="comment">/* accumulate in output */</span> );
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// For graphs of 3D constraints (with information matrix)</span>
<a name="l00108"></a>00108 <span class="keyword">template</span> <<span class="keyword">class</span> gst> <span class="keyword">struct </span>AuxErrorEval<<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian des...">CPose3DPDFGaussianInf</a>,gst> {
<a name="l00109"></a>00109 <span class="keyword">template</span> <<span class="keyword">class</span> POSE,<span class="keyword">class</span> VEC,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00110"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#acbe615faee3602101aa3f6f8900259ac">00110</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#acbe615faee3602101aa3f6f8900259ac">computePseudoLnError</a>(<span class="keyword">const</span> POSE &P1DP2inv, VEC &err,<span class="keyword">const</span> EDGE_ITERATOR &edge) { gst::SE_TYPE::pseudo_ln(P1DP2inv, err); }
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00113"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#a6b399ab37d8d4f55a97ffccd72d23b4a">00113</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#a6b399ab37d8d4f55a97ffccd72d23b4a">multiplyJtLambdaJ</a>(<span class="keyword">const</span> MAT &J1, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtBC(J1,edge->second.cov_inv,J1); }
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="keyword">template</span> <<span class="keyword">class</span> MAT,<span class="keyword">class</span> EDGE_ITERATOR>
<a name="l00116"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#a26e95aeb6bb561a0d4b7ed25cebaa369">00116</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#a26e95aeb6bb561a0d4b7ed25cebaa369">multiplyJ1tLambdaJ2</a>(<span class="keyword">const</span> MAT &J1, <span class="keyword">const</span> MAT &J2, MAT &JtJ,<span class="keyword">const</span> EDGE_ITERATOR &edge) { JtJ.multiply_AtBC(J1,edge->second.cov_inv,J2); }
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keyword">template</span> <<span class="keyword">class</span> JAC,<span class="keyword">class</span> EDGE_ITERATOR,<span class="keyword">class</span> VEC1,<span class="keyword">class</span> VEC2>
<a name="l00119"></a><a class="code" href="structmrpt_1_1graphslam_1_1detail_1_1_aux_error_eval_3_01_c_pose3_d_p_d_f_gaussian_inf_00_01gst_01_4.html#aa20853a00cffa2dfe715ed1531611550">00119</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> multiply_Jt_W_err(<span class="keyword">const</span> JAC &J,<span class="keyword">const</span> EDGE_ITERATOR &edge,<span class="keyword">const</span> VEC1 & ERR,VEC2 &OUT)
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> JtInf(<a class="code" href="namespacemrpt_1_1math.html#a27e8ae8971ff5aa1c39f1f9be334d73aa28acc66160006cb691487ec89f8d266d">UNINITIALIZED_MATRIX</a>);
<a name="l00122"></a>00122 JtInf.multiply_AtB(J,edge->second.cov_inv);
<a name="l00123"></a>00123 JtInf.multiply_Ab(ERR,OUT, <span class="keyword">true</span> <span class="comment">/* accumulate in output */</span> );
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125 };
<a name="l00126"></a>00126
<a name="l00127"></a>00127 } <span class="comment">// end NS detail</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="comment">// Compute, at once, jacobians and the error vectors for each constraint in "lstObservationData", returns the overall squared error.</span>
<a name="l00130"></a>00130 <span class="keyword">template</span> <<span class="keyword">class</span> GRAPH_T>
<a name="l00131"></a><a class="code" href="namespacemrpt_1_1graphslam.html#a3cfdce22aa190f9b07da5683be81d04d">00131</a> <span class="keywordtype">double</span> <a class="code" href="namespacemrpt_1_1graphslam.html#a3cfdce22aa190f9b07da5683be81d04d">computeJacobiansAndErrors</a>(
<a name="l00132"></a>00132 <span class="keyword">const</span> GRAPH_T &graph,
<a name="l00133"></a>00133 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits_1_1observation__info__t.html" title="Auxiliary struct used in graph-slam implementation: It holds the relevant information for each of the...">graphslam_traits<GRAPH_T>::observation_info_t</a>> &lstObservationData,
<a name="l00134"></a>00134 <span class="keyword">typename</span> <a class="code" href="classstd_1_1map.html" title="STL class.">graphslam_traits<GRAPH_T>::map_pairIDs_pairJacobs_t</a> &lstJacobians,
<a name="l00135"></a>00135 <span class="keyword">typename</span> <a class="code" href="structmrpt_1_1aligned__containers.html" title="Helper types for STL containers with Eigen memory allocators.">mrpt::aligned_containers</a><<span class="keyword">typename</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html#a832ab9b007f030ff0b46a146959df933">graphslam_traits<GRAPH_T>::Array_O</a>>::vector_t &errs
<a name="l00136"></a>00136 )
<a name="l00137"></a>00137 {
<a name="l00138"></a>00138 <span class="keyword">typedef</span> <a class="code" href="structmrpt_1_1graphslam_1_1graphslam__traits.html" title="Auxiliary traits template for use among graph-slam problems to make life easier with these complicate...">graphslam_traits<GRAPH_T></a> gst;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 lstJacobians.clear();
<a name="l00141"></a>00141 errs.clear();
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keyword">const</span> <span class="keywordtype">size_t</span> nObservations = lstObservationData.size();
<a name="l00144"></a>00144
<a name="l00145"></a>00145 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<nObservations;i++)
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 <span class="keyword">const</span> <span class="keyword">typename</span> gst::observation_info_t & obs = lstObservationData[i];
<a name="l00148"></a>00148 <span class="keyword">typename</span> gst::edge_const_iterator it = obs.edge;
<a name="l00149"></a>00149 <span class="keyword">const</span> <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value* EDGE_POSE = obs.edge_mean;
<a name="l00150"></a>00150 <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value* P1 = obs.P1;
<a name="l00151"></a>00151 <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value* P2 = obs.P2;
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="namespacemrpt_1_1utils.html#aee71d7beb4d61406566af3847410d0e4" title="A pair of node IDs.">TPairNodeIDs</a> &ids = it->first;
<a name="l00154"></a>00154 <span class="keyword">const</span> <span class="keyword">typename</span> gst::graph_t::edge_t &edge = it->second;
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <span class="comment">// Compute the residual pose error of these pair of nodes + its constraint,</span>
<a name="l00157"></a>00157 <span class="comment">// that is: P1DP2inv = P1 * EDGE * inv(P2)</span>
<a name="l00158"></a>00158 <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value P1DP2inv(<a class="code" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430aefbfdff7ad639a9a8019af9de5f3c592">UNINITIALIZED_POSE</a>);
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160 <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value P1D(<a class="code" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430aefbfdff7ad639a9a8019af9de5f3c592">UNINITIALIZED_POSE</a>);
<a name="l00161"></a>00161 P1D.composeFrom(*P1,*EDGE_POSE);
<a name="l00162"></a>00162 <span class="keyword">const</span> <span class="keyword">typename</span> gst::graph_t::constraint_t::type_value P2inv = -(*P2); <span class="comment">// Pose inverse (NOT just switching signs!)</span>
<a name="l00163"></a>00163 P1DP2inv.composeFrom(P1D,P2inv);
<a name="l00164"></a>00164 }
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="comment">// Add to vector of errors:</span>
<a name="l00167"></a>00167 errs.resize(errs.size()+1);
<a name="l00168"></a>00168 detail::AuxErrorEval<typename gst::edge_t,gst>::computePseudoLnError(P1DP2inv, errs.back(),edge);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <span class="comment">// Compute the jacobians:</span>
<a name="l00171"></a>00171 EIGEN_ALIGN16 std::pair<TPairNodeIDs,typename gst::TPairJacobs> newMapEntry;
<a name="l00172"></a>00172 newMapEntry.first = ids;
<a name="l00173"></a>00173 gst::SE_TYPE::jacobian_dP1DP2inv_depsilon(P1DP2inv, &newMapEntry.second.first,&newMapEntry.second.second);
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="comment">// And insert into map of jacobians:</span>
<a name="l00176"></a>00176 lstJacobians.insert(lstJacobians.end(),newMapEntry );
<a name="l00177"></a>00177 }
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">// return overall square error:</span>
<a name="l00180"></a>00180 <span class="keywordflow">return</span> std::accumulate( errs.begin(), errs.end(),0.0, mrpt::math::squareNorm_accum<typename gst::Array_O> );
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182
<a name="l00183"></a>00183 } <span class="comment">// end of NS</span>
<a name="l00184"></a>00184 } <span class="comment">// end of NS</span>
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="preprocessor">#endif</span>
</pre></div></div>
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