70 lines
2.3 KiB
C++
70 lines
2.3 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
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#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
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#include <array>
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/common/math.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/mapping/pose_graph/cost_helpers.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/transform.h"
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#include "ceres/ceres.h"
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#include "ceres/jet.h"
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namespace cartographer {
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namespace mapping {
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namespace pose_graph {
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class SpaCostFunction2D {
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public:
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static ceres::CostFunction* CreateAutoDiffCostFunction(
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const PoseGraph::Constraint::Pose& pose) {
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return new ceres::AutoDiffCostFunction<SpaCostFunction2D, 3 /* residuals */,
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3 /* pose variables */,
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3 /* pose variables */>(
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new SpaCostFunction2D(pose));
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}
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template <typename T>
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bool operator()(const T* const c_i, const T* const c_j, T* e) const {
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using pose_graph::ComputeUnscaledError;
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using pose_graph::ScaleError;
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const std::array<T, 3> error = ScaleError(
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ComputeUnscaledError(transform::Project2D(pose_.zbar_ij), c_i, c_j),
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T(pose_.translation_weight), T(pose_.rotation_weight));
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std::copy(std::begin(error), std::end(error), e);
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return true;
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}
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private:
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explicit SpaCostFunction2D(const PoseGraph::Constraint::Pose& pose)
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: pose_(pose) {}
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const PoseGraph::Constraint::Pose pose_;
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};
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} // namespace pose_graph
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
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