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wrap barometric factor

release/4.3a0
Varun Agrawal 2024-02-22 15:07:24 -05:00
parent f724f30388
commit 26f57ce3b2
3 changed files with 23 additions and 3 deletions
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3
gtsam/base/std_optional_serialization.h
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@ -56,6 +56,8 @@ namespace std { template<> struct is_trivially_move_constructible<boost::seriali
#endif #endif
// Only for old boost
#if BOOST_VERSION < 108000
// function specializations must be defined in the appropriate // function specializations must be defined in the appropriate
// namespace - boost::serialization // namespace - boost::serialization
namespace boost { namespace boost {
@ -99,3 +101,4 @@ void serialize(Archive& ar, std::optional<T>& t, const unsigned int version) {
} // namespace serialization } // namespace serialization
} // namespace boost } // namespace boost
#endif #endif
#endif

2
gtsam/navigation/BarometricFactor.h
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@ -91,7 +91,7 @@ class GTSAM_EXPORT BarometricFactor : public NoiseModelFactorN<Pose3, double> {
-0.00649; -0.00649;
} }
inline double baroOut(const double& meters) { inline double baroOut(const double& meters) const {
double temp = 15.04 - 0.00649 * meters; double temp = 15.04 - 0.00649 * meters;
return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256); return 101.29 * std::pow(((temp + 273.1) / 288.08), 5.256);
} }

21
gtsam/navigation/navigation.i
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@ -294,7 +294,7 @@ virtual class GPSFactor : gtsam::NonlinearFactor{
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor& expected, double tol); bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface // Standard Interface
gtsam::Point3 measurementIn() const; gtsam::Point3 measurementIn() const;
@ -307,12 +307,29 @@ virtual class GPSFactor2 : gtsam::NonlinearFactor {
// Testable // Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter = void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const; gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::GPSFactor2& expected, double tol); bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface // Standard Interface
gtsam::Point3 measurementIn() const; gtsam::Point3 measurementIn() const;
}; };
#include <gtsam/navigation/BarometricFactor.h>
virtual class BarometricFactor : gtsam::NonlinearFactor {
BarometricFactor();
BarometricFactor(size_t key, size_t baroKey, const double& baroIn,
const gtsam::noiseModel::Base* model);
// Testable
void print(string s = "", const gtsam::KeyFormatter& keyFormatter =
gtsam::DefaultKeyFormatter) const;
bool equals(const gtsam::NonlinearFactor& expected, double tol);
// Standard Interface
const double& measurementIn() const;
double heightOut(double n) const;
double baroOut(const double& meters) const;
};
#include <gtsam/navigation/Scenario.h> #include <gtsam/navigation/Scenario.h>
virtual class Scenario { virtual class Scenario {
gtsam::Pose3 pose(double t) const; gtsam::Pose3 pose(double t) const;