simple_odometry_params.h

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 * Administration.
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 * All rights reserved.
 *
 * The Astrobee platform is licensed under the Apache License,
 * Version 2.0 (the "License"); you may not use this file except
 * in compliance with the License. You may obtain a copy of the
 * License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
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 * Unless required by applicable law or agreed to in writing,
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 * "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND,
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#ifndef TUTORIAL_EXAMPLES_SIMPLE_ODOMETRY_PARAMS_H_
#define TUTORIAL_EXAMPLES_SIMPLE_ODOMETRY_PARAMS_H_
 
#include <factor_adders/pose_factor_adder.h>
#include <node_adders/combined_nav_state_node_adder.h>
#include <node_adders/pose_node_adder_model.h>
#include <node_adders/pose_node_adder_params.h>
#include <optimizers/nonlinear_optimizer_params.h>
#include <sliding_window_graph_optimizer/sliding_window_graph_optimizer_params.h>
 
namespace tutorial_examples {
struct SimpleOdometryParams {
  // Initialize params with some default values.
  // For more details on the meaning of each param, see the
  // respective header file.
  SimpleOdometryParams() {
    // Factor Adder
    relative_pose_factor_adder.enabled = true;
    relative_pose_factor_adder.huber_k = 1.345;
    // Node Adder
    combined_nav_state_node_adder.huber_k = 1.345;
    combined_nav_state_node_adder.add_priors = true;
    combined_nav_state_node_adder.starting_time = 0.0;
    combined_nav_state_node_adder.ideal_duration = 10.0;
    combined_nav_state_node_adder.min_num_states = 2;
    combined_nav_state_node_adder.max_num_states = 20;
    // Node Adder Model
    combined_nav_state_node_adder_model.huber_k = 1.345;
    combined_nav_state_node_adder_model.imu_integrator.gravity =
      Eigen::Vector3d::Zero();
    combined_nav_state_node_adder_model.imu_integrator
      .body_T_imu = gtsam::Pose3::identity();
    combined_nav_state_node_adder_model.imu_integrator
      .gyro_sigma = 0.01;
    combined_nav_state_node_adder_model.imu_integrator
      .accel_sigma = 0.01;
    combined_nav_state_node_adder_model.imu_integrator
      .accel_bias_sigma = 0.01;
    combined_nav_state_node_adder_model.imu_integrator
      .gyro_bias_sigma = 0.01;
    combined_nav_state_node_adder_model.imu_integrator
      .integration_variance = 0.01;
    combined_nav_state_node_adder_model.imu_integrator
      .bias_acc_omega_int = 0.01;
    // Nonlinear Optimizer
    nonlinear_optimizer.marginals_factorization = "qr";
    nonlinear_optimizer.max_iterations = 10;
    nonlinear_optimizer.verbose = false;
    nonlinear_optimizer.use_ceres_params = false;
    // Sliding Window Graph Optimizer
    sliding_window_graph_optimizer.huber_k = 1.345;
    sliding_window_graph_optimizer.log_stats_on_destruction =
      false;
    sliding_window_graph_optimizer.print_after_optimization =
      false;
    sliding_window_graph_optimizer.add_marginal_factors = false;
    sliding_window_graph_optimizer
      .slide_window_before_optimization = true;
  }
 
  factor_adders::RelativePoseFactorAdderParams
    relative_pose_factor_adder;
  node_adders::TimestampedNodeAdderParams<
    localization_common::CombinedNavState>
    combined_nav_state_node_adder;
  node_adders::CombinedNavStateNodeAdderModel::Params
    combined_nav_state_node_adder_model;
  optimizers::NonlinearOptimizerParams nonlinear_optimizer;
  sliding_window_graph_optimizer::
    SlidingWindowGraphOptimizerParams
      sliding_window_graph_optimizer;
};
}  // namespace tutorial_examples
 
#endif  // TUTORIAL_EXAMPLES_SIMPLE_ODOMETRY_PARAMS_H_