model

SLAM.PoseGraph.ModelicaPoseGraph

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
parameter	`nodeCapacity`	`Integer`	`= 128`
parameter	`edgeCapacity`	`Integer`	`= 256`
parameter	`maximumIterations`	`Integer`	`= 8`
parameter	`maximumPCG`	`Integer`	`= 48`
parameter	`maximumBacktracks`	`Integer`	`= 8`
parameter	`initialDamping`	`Real`	`= 0.001`
parameter	`maximumPositionStep`	`Real`	`= 0.5`
parameter	`maximumAngleStep`	`Real`	`= 0.2`
parameter	`pcgTolerance`	`Real`	`= 1e-5`
input	`position`	`Real`	`[nodeCapacity,3] = zeros(nodeCapacity,3)`
input	`rotation`	`Real`	`[nodeCapacity,3,3] = zeros(nodeCapacity,3,3)`
input	`nodeMask`	`Real`	`[nodeCapacity] = zeros(nodeCapacity)`
input	`edgeMask`	`Real`	`[edgeCapacity] = zeros(edgeCapacity)`
input	`fromNode`	`Real`	`[edgeCapacity] = ones(edgeCapacity)`
input	`toNode`	`Real`	`[edgeCapacity] = ones(edgeCapacity)`
input	`translation`	`Real`	`[edgeCapacity,3] = zeros(edgeCapacity,3)`
input	`measuredRotation`	`Real`	`[edgeCapacity,3,3] = zeros(edgeCapacity,3,3)`
input	`information`	`Real`	`[edgeCapacity,6,6] = zeros(edgeCapacity,6,6)`
output	`nextPosition`	`Real`	`[nodeCapacity,3]`
output	`nextRotation`	`Real`	`[nodeCapacity,3,3]`
output	`status`	`Real`
output	`costBefore`	`Real`
output	`costAfter`	`Real`
output	`acceptedIterations`	`Real`
output	`pcgIterations`	`Real`
output	`activeNodes`	`Real`
output	`activeEdges`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model ModelicaPoseGraph
  import OptimizeModelicaPoseGraph = SLAM.PoseGraph.OptimizeModelicaPoseGraph;

  parameter Integer nodeCapacity = 128; parameter Integer edgeCapacity = 256;
  parameter Integer maximumIterations = 8; parameter Integer maximumPCG = 48; parameter Integer maximumBacktracks = 8;
  parameter Real initialDamping = 0.001; parameter Real maximumPositionStep = 0.5;
  parameter Real maximumAngleStep = 0.2; parameter Real pcgTolerance = 1e-5;
  input Real position[nodeCapacity,3] = zeros(nodeCapacity,3);
  input Real rotation[nodeCapacity,3,3] = zeros(nodeCapacity,3,3);
  input Real nodeMask[nodeCapacity] = zeros(nodeCapacity); input Real edgeMask[edgeCapacity] = zeros(edgeCapacity);
  input Real fromNode[edgeCapacity] = ones(edgeCapacity); input Real toNode[edgeCapacity] = ones(edgeCapacity);
  input Real translation[edgeCapacity,3] = zeros(edgeCapacity,3);
  input Real measuredRotation[edgeCapacity,3,3] = zeros(edgeCapacity,3,3);
  input Real information[edgeCapacity,6,6] = zeros(edgeCapacity,6,6);
  output Real nextPosition[nodeCapacity,3]; output Real nextRotation[nodeCapacity,3,3];
  output Real status; output Real costBefore; output Real costAfter; output Real acceptedIterations;
  output Real pcgIterations; output Real activeNodes; output Real activeEdges;
equation
  (nextPosition,nextRotation,status,costBefore,costAfter,acceptedIterations,pcgIterations,activeNodes,activeEdges) =
    OptimizeModelicaPoseGraph(position,rotation,nodeMask,edgeMask,fromNode,toNode,translation,measuredRotation,information,
      maximumIterations,maximumPCG,maximumBacktracks,initialDamping,maximumPositionStep,maximumAngleStep,pcgTolerance);
end ModelicaPoseGraph;