| 49 | { |
| 50 | |
| 51 | class FactorGraphConfig |
| 52 | { |
| 53 | public: |
| 54 | |
| 55 | FactorGraphConfig(); |
| 56 | virtual ~FactorGraphConfig() = default; |
| 57 | |
| 58 | /** parse the command line Options */ |
| 59 | bool ReadCommandLineOptions(const int argc, char** argv, std::vector<std::string> * const Arguments = nullptr); |
| 60 | |
| 61 | /** parse the YAML config file with yaml-cpp */ |
| 62 | bool ReadYAMLOptions(const string YAMLFile); |
| 63 | |
| 64 | /** interface to the outer world are a set of files*/ |
| 65 | string InputFile; |
| 66 | string OutputFile; |
| 67 | string ConfigFile; |
| 68 | |
| 69 | /** noise model */ |
| 70 | struct ErrorModelConfig |
| 71 | { |
| 72 | ErrorModelConfig():MixtureType(ErrorModelMixtureType::None), TuningType(ErrorModelTuningType::None) {}; |
| 73 | |
| 74 | ErrorModelType Type; |
| 75 | Vector Parameter; |
| 76 | |
| 77 | ErrorModelMixtureType MixtureType; /**< only if a GMM is used */ |
| 78 | ErrorModelTuningType TuningType; /**< only if a GMM is used */ |
| 79 | bool IncrementalTuning = false; |
| 80 | }; |
| 81 | |
| 82 | /** factor configuration */ |
| 83 | struct FactorConfig |
| 84 | { |
| 85 | FactorConfig():IsActive(false){}; |
| 86 | |
| 87 | FactorType Type; |
| 88 | Vector Parameter; |
| 89 | ErrorModelConfig ErrorModel; |
| 90 | |
| 91 | bool IsActive; |
| 92 | }Ranging, GNSS, ClockModel, MotionModel, Odom, IMU, Laser, Radar, Vision, LoopClosure, Tracking, Prior, Pressure; |
| 93 | |
| 94 | /** special properties */ |
| 95 | struct GraphConfig |
| 96 | { |
| 97 | SolutionType Type; |
| 98 | |
| 99 | /** available time for one iteration */ |
| 100 | double MaxTime; |
| 101 | int MaxIterations; |
| 102 | |
| 103 | /** time handling */ |
| 104 | bool IsAsync; |
| 105 | double AsyncRate; |
| 106 | DataType SyncSensor; |
| 107 | |
| 108 | /** covariance estimation */ |
nothing calls this directly
no outgoing calls
no test coverage detected