@brief Build the factor Graph with initial values and a first set of measurements * * @param Graph reference to the factor graph object * @param Measurements reference to the dataset that contains the pseudo range measurements * @param Config reference to the factor graph config * @param Options solver option to estimate initial values * @param TimestampFirst first timestamp in the Dataset
| 42 | * |
| 43 | */ |
| 44 | void InitGraph(libRSF::FactorGraph &Graph, |
| 45 | libRSF::SensorDataSet &Measurements, |
| 46 | libRSF::FactorGraphConfig const &Config, |
| 47 | ceres::Solver::Options Options, |
| 48 | double TimestampFirst) |
| 49 | { |
| 50 | /** build simple graph */ |
| 51 | libRSF::FactorGraphConfig SimpleConfig = Config; |
| 52 | SimpleConfig.GNSS.ErrorModel.Type = libRSF::ErrorModelType::Gaussian; |
| 53 | libRSF::FactorGraph SimpleGraph; |
| 54 | |
| 55 | SimpleGraph.addState(POSITION_STATE, libRSF::DataType::Point3, TimestampFirst); |
| 56 | SimpleGraph.addState(CLOCK_ERROR_STATE, libRSF::DataType::ClockError, TimestampFirst); |
| 57 | AddPseudorangeMeasurements(SimpleGraph, Measurements, SimpleConfig, TimestampFirst); |
| 58 | |
| 59 | /** solve */ |
| 60 | SimpleGraph.solve(Options); |
| 61 | |
| 62 | /**add first state variables */ |
| 63 | Graph.addState(POSITION_STATE, libRSF::DataType::Point3, TimestampFirst); |
| 64 | Graph.addState(CLOCK_ERROR_STATE, libRSF::DataType::ClockError, TimestampFirst); |
| 65 | Graph.addState(CLOCK_DRIFT_STATE, libRSF::DataType::ClockDrift, TimestampFirst); |
| 66 | Graph.addState(ORIENTATION_STATE, libRSF::DataType::Angle, TimestampFirst); |
| 67 | |
| 68 | /** copy values to real graph */ |
| 69 | Graph.getStateData().getElement(POSITION_STATE, TimestampFirst).setMean(SimpleGraph.getStateData().getElement(POSITION_STATE, TimestampFirst).getMean()); |
| 70 | Graph.getStateData().getElement(CLOCK_ERROR_STATE, TimestampFirst).setMean(SimpleGraph.getStateData().getElement(CLOCK_ERROR_STATE, TimestampFirst).getMean()); |
| 71 | |
| 72 | |
| 73 | /** add first set of measurements */ |
| 74 | AddPseudorangeMeasurements(Graph, Measurements, Config, TimestampFirst); |
| 75 | } |
| 76 | |
| 77 | |
| 78 | /** @brief Adds a pseudorange measurement to the graph |
no test coverage detected