Merge pull request #752 from miloknowles/feature/mag_pose_factor
Varun Agrawal
GitHub
commit
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <gtsam/geometry/concepts.h>
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#include <gtsam/nonlinear/NonlinearFactor.h>
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namespace gtsam {
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/**
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* Factor to estimate rotation of a Pose2 or Pose3 given a magnetometer reading.
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* This version uses the measurement model bM = scale * bRn * direction + bias,
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* where bRn is the rotation of the body in the nav frame, and scale, direction,
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* and bias are assumed to be known. If the factor is constructed with a
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* body_P_sensor, then the magnetometer measurements and bias should be
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* expressed in the sensor frame.
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*/
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template <class POSE>
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class MagPoseFactor: public NoiseModelFactor1<POSE> {
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private:
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using This = MagPoseFactor<POSE>;
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using Base = NoiseModelFactor1<POSE>;
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using Point = typename POSE::Translation; ///< Could be a Vector2 or Vector3 depending on POSE.
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using Rot = typename POSE::Rotation;
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const Point measured_; ///< The measured magnetometer data in the body frame.
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const Point nM_; ///< Local magnetic field (mag output units) in the nav frame.
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const Point bias_; ///< The bias vector (mag output units) in the body frame.
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boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame.
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static const int MeasDim = Point::RowsAtCompileTime;
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static const int PoseDim = traits<POSE>::dimension;
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static const int RotDim = traits<Rot>::dimension;
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/// Shorthand for a smart pointer to a factor.
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using shared_ptr = boost::shared_ptr<MagPoseFactor<POSE>>;
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/// Concept check by type.
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GTSAM_CONCEPT_TESTABLE_TYPE(POSE)
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GTSAM_CONCEPT_POSE_TYPE(POSE)
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public:
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~MagPoseFactor() override {}
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/// Default constructor - only use for serialization.
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MagPoseFactor() {}
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/**
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* Construct the factor.
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* @param pose_key of the unknown pose nPb in the factor graph
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* @param measured magnetometer reading, a Point2 or Point3
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* @param scale by which a unit vector is scaled to yield a magnetometer reading
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* @param direction of the local magnetic field, see e.g. http://www.ngdc.noaa.gov/geomag-web/#igrfwmm
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* @param bias of the magnetometer, modeled as purely additive (after scaling)
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* @param model of the additive Gaussian noise that is assumed
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* @param body_P_sensor an optional transform of the magnetometer in the body frame
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*/
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MagPoseFactor(Key pose_key,
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const Point& measured,
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double scale,
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const Point& direction,
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const Point& bias,
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const SharedNoiseModel& model,
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const boost::optional<POSE>& body_P_sensor)
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: Base(model, pose_key),
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measured_(body_P_sensor ? body_P_sensor->rotation() * measured : measured),
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nM_(scale * direction.normalized()),
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bias_(body_P_sensor ? body_P_sensor->rotation() * bias : bias),
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body_P_sensor_(body_P_sensor) {}
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/// @return a deep copy of this factor.
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NonlinearFactor::shared_ptr clone() const override {
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return boost::static_pointer_cast<NonlinearFactor>(
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NonlinearFactor::shared_ptr(new This(*this)));
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}
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/// Implement functions needed for Testable.
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// Print out the factor.
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void print(const std::string& s = "", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const override {
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Base::print(s, keyFormatter);
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gtsam::print(Vector(nM_), "local field (nM): ");
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gtsam::print(Vector(measured_), "measured field (bM): ");
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gtsam::print(Vector(bias_), "magnetometer bias: ");
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}
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/// Equals function.
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bool equals(const NonlinearFactor& expected, double tol=1e-9) const override {
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const This *e = dynamic_cast<const This*> (&expected);
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return e != nullptr && Base::equals(*e, tol) &&
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gtsam::equal_with_abs_tol(this->measured_, e->measured_, tol) &&
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gtsam::equal_with_abs_tol(this->nM_, e->nM_, tol) &&
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gtsam::equal_with_abs_tol(this->bias_, e->bias_, tol);
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}
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/// Implement functions needed to derive from Factor.
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/**
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* Return the factor's error h(x) - z, and the optional Jacobian. Note that
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* the measurement error is expressed in the body frame.
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*/
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Vector evaluateError(const POSE& nPb, boost::optional<Matrix&> H = boost::none) const override {
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// Predict the measured magnetic field h(x) in the *body* frame.
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// If body_P_sensor was given, bias_ will have been rotated into the body frame.
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Matrix H_rot = Matrix::Zero(MeasDim, RotDim);
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const Point hx = nPb.rotation().unrotate(nM_, H_rot, boost::none) + bias_;
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if (H) {
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// Fill in the relevant part of the Jacobian (just rotation columns).
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*H = Matrix::Zero(MeasDim, PoseDim);
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const size_t rot_col0 = nPb.rotationInterval().first;
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(*H).block(0, rot_col0, MeasDim, RotDim) = H_rot;
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}
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return (hx - measured_);
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}
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private:
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/// Serialization function.
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friend class boost::serialization::access;
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template<class ARCHIVE>
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void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
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ar & boost::serialization::make_nvp("NoiseModelFactor1",
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boost::serialization::base_object<Base>(*this));
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ar & BOOST_SERIALIZATION_NVP(measured_);
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ar & BOOST_SERIALIZATION_NVP(nM_);
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ar & BOOST_SERIALIZATION_NVP(bias_);
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ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
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}
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}; // \class MagPoseFactor
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} /// namespace gtsam
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@ -0,0 +1,126 @@
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/* ----------------------------------------------------------------------------
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* GTSAM Copyright 2010, Georgia Tech Research Corporation,
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* Atlanta, Georgia 30332-0415
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* All Rights Reserved
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* Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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* See LICENSE for the license information
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* -------------------------------------------------------------------------- */
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#include <gtsam/inference/Symbol.h>
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#include <gtsam/geometry/Pose2.h>
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#include <gtsam/geometry/Pose3.h>
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/numericalDerivative.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam_unstable/slam/MagPoseFactor.h>
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using namespace gtsam;
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// *****************************************************************************
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// Magnetic field in the nav frame (NED), with units of nT.
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Point3 nM(22653.29982, -1956.83010, 44202.47862);
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// Assumed scale factor (scales a unit vector to magnetometer units of nT).
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double scale = 255.0 / 50000.0;
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// Ground truth Pose2/Pose3 in the nav frame.
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Pose3 n_P3_b = Pose3(Rot3::Yaw(-0.1), Point3(-3, 12, 5));
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Pose2 n_P2_b = Pose2(Rot2(-0.1), Point2(-3, 12));
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Rot3 n_R3_b = n_P3_b.rotation();
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Rot2 n_R2_b = n_P2_b.rotation();
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// Sensor bias (nT).
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Point3 bias3(10, -10, 50);
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Point2 bias2 = bias3.head(2);
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Point3 dir3(nM.normalized());
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Point2 dir2(nM.head(2).normalized());
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// Compute the measured field in the sensor frame.
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Point3 measured3 = n_R3_b.inverse() * (scale * dir3) + bias3;
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// The 2D magnetometer will measure the "NE" field components.
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Point2 measured2 = n_R2_b.inverse() * (scale * dir2) + bias2;
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SharedNoiseModel model2 = noiseModel::Isotropic::Sigma(2, 0.25);
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SharedNoiseModel model3 = noiseModel::Isotropic::Sigma(3, 0.25);
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// Make up a rotation and offset of the sensor in the body frame.
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Pose2 body_P2_sensor(Rot2(-0.30), Point2(1.0, -2.0));
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Pose3 body_P3_sensor(Rot3::RzRyRx(Vector3(1.5, 0.9, -1.15)), Point3(-0.1, 0.2, 0.3));
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// *****************************************************************************
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// *****************************************************************************
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TEST(MagPoseFactor, Constructors) {
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MagPoseFactor<Pose2> f2a(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none);
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MagPoseFactor<Pose3> f3a(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none);
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// Try constructing with a body_P_sensor set.
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MagPoseFactor<Pose2> f2b = MagPoseFactor<Pose2>(
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Symbol('X', 0), measured2, scale, dir2, bias2, model2, body_P2_sensor);
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MagPoseFactor<Pose3> f3b = MagPoseFactor<Pose3>(
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Symbol('X', 0), measured3, scale, dir3, bias3, model3, body_P3_sensor);
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f2b.print();
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f3b.print();
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}
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// *****************************************************************************
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TEST(MagPoseFactor, JacobianPose2) {
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Matrix H2;
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// Error should be zero at the groundtruth pose.
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MagPoseFactor<Pose2> f(Symbol('X', 0), measured2, scale, dir2, bias2, model2, boost::none);
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CHECK(gtsam::assert_equal(Z_2x1, f.evaluateError(n_P2_b, H2), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose2> //
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(boost::bind(&MagPoseFactor<Pose2>::evaluateError, &f, _1, boost::none), n_P2_b), H2, 1e-7));
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}
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// *****************************************************************************
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TEST(MagPoseFactor, JacobianPose3) {
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Matrix H3;
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// Error should be zero at the groundtruth pose.
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MagPoseFactor<Pose3> f(Symbol('X', 0), measured3, scale, dir3, bias3, model3, boost::none);
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CHECK(gtsam::assert_equal(Z_3x1, f.evaluateError(n_P3_b, H3), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose3> //
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(boost::bind(&MagPoseFactor<Pose3>::evaluateError, &f, _1, boost::none), n_P3_b), H3, 1e-7));
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}
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// *****************************************************************************
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TEST(MagPoseFactor, body_P_sensor2) {
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Matrix H2;
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// Because body_P_sensor is specified, we need to rotate the raw measurement
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// from the body frame into the sensor frame "s".
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const Rot2 nRs = n_R2_b * body_P2_sensor.rotation();
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const Point2 sM = nRs.inverse() * (scale * dir2) + bias2;
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MagPoseFactor<Pose2> f = MagPoseFactor<Pose2>(Symbol('X', 0), sM, scale, dir2, bias2, model2, body_P2_sensor);
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CHECK(gtsam::assert_equal(Z_2x1, f.evaluateError(n_P2_b, H2), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose2> //
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(boost::bind(&MagPoseFactor<Pose2>::evaluateError, &f, _1, boost::none), n_P2_b), H2, 1e-7));
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}
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// *****************************************************************************
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TEST(MagPoseFactor, body_P_sensor3) {
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Matrix H3;
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// Because body_P_sensor is specified, we need to rotate the raw measurement
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// from the body frame into the sensor frame "s".
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const Rot3 nRs = n_R3_b * body_P3_sensor.rotation();
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const Point3 sM = nRs.inverse() * (scale * dir3) + bias3;
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MagPoseFactor<Pose3> f = MagPoseFactor<Pose3>(Symbol('X', 0), sM, scale, dir3, bias3, model3, body_P3_sensor);
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CHECK(gtsam::assert_equal(Z_3x1, f.evaluateError(n_P3_b, H3), 1e-5));
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CHECK(gtsam::assert_equal(gtsam::numericalDerivative11<Vector, Pose3> //
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(boost::bind(&MagPoseFactor<Pose3>::evaluateError, &f, _1, boost::none), n_P3_b), H3, 1e-7));
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}
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// *****************************************************************************
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int main() {
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TestResult tr;
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return TestRegistry::runAllTests(tr);
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}
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// *****************************************************************************
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