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Rename and reformat

release/4.3a0
dellaert 2014-12-04 13:51:51 +01:00
parent fa66762394
commit add93f19a6
1 changed files with 81 additions and 74 deletions
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155
gtsam/slam/RangeFactor.h
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@ -16,99 +16,106 @@
#pragma once
#include <boost/lexical_cast.hpp>
#include <gtsam/geometry/concepts.h>
#include <gtsam/nonlinear/NonlinearFactor.h>
#include <gtsam/geometry/concepts.h>
#include <boost/lexical_cast.hpp>
namespace gtsam {
/**
* Binary factor for a range measurement
* @addtogroup SLAM
*/
template<class POSE, class POINT>
class RangeFactor: public NoiseModelFactor2<POSE, POINT> {
private:
/**
* Binary factor for a range measurement
* @addtogroup SLAM
*/
template<class T1, class T2>
class RangeFactor: public NoiseModelFactor2<T1, T2> {
private:
double measured_; /** measurement */
boost::optional<POSE> body_P_sensor_; ///< The pose of the sensor in the body frame
double measured_; /** measurement */
boost::optional<T1> body_P_sensor_; ///< The pose of the sensor in the body frame
typedef RangeFactor<POSE, POINT> This;
typedef NoiseModelFactor2<POSE, POINT> Base;
typedef RangeFactor<T1, T2> This;
typedef NoiseModelFactor2<T1, T2> Base;
typedef POSE Pose;
typedef POINT Point;
// Concept requirements for this factor
GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(T1, T2)
// Concept requirements for this factor
GTSAM_CONCEPT_RANGE_MEASUREMENT_TYPE(POSE, POINT)
public:
public:
RangeFactor() {
} /* Default constructor */
RangeFactor() {} /* Default constructor */
RangeFactor(Key key1, Key key2, double measured,
const SharedNoiseModel& model, boost::optional<T1> body_P_sensor =
boost::none) :
Base(model, key1, key2), measured_(measured), body_P_sensor_(
body_P_sensor) {
}
RangeFactor(Key poseKey, Key pointKey, double measured,
const SharedNoiseModel& model, boost::optional<POSE> body_P_sensor = boost::none) :
Base(model, poseKey, pointKey), measured_(measured), body_P_sensor_(body_P_sensor) {
}
virtual ~RangeFactor() {
}
virtual ~RangeFactor() {}
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
gtsam::NonlinearFactor::shared_ptr(new This(*this)));
}
/// @return a deep copy of this factor
virtual gtsam::NonlinearFactor::shared_ptr clone() const {
return boost::static_pointer_cast<gtsam::NonlinearFactor>(
gtsam::NonlinearFactor::shared_ptr(new This(*this))); }
/** h(x)-z */
Vector evaluateError(const POSE& pose, const POINT& point,
boost::optional<Matrix&> H1 = boost::none, boost::optional<Matrix&> H2 = boost::none) const {
double hx;
if(body_P_sensor_) {
if(H1) {
Matrix H0;
hx = pose.compose(*body_P_sensor_, H0).range(point, H1, H2);
*H1 = *H1 * H0;
} else {
hx = pose.compose(*body_P_sensor_).range(point, H1, H2);
}
/** h(x)-z */
Vector evaluateError(const T1& t1, const T2& t2, boost::optional<Matrix&> H1 =
boost::none, boost::optional<Matrix&> H2 = boost::none) const {
double hx;
if (body_P_sensor_) {
if (H1) {
Matrix H0;
hx = t1.compose(*body_P_sensor_, H0).range(t2, H1, H2);
*H1 = *H1 * H0;
} else {
hx = pose.range(point, H1, H2);
hx = t1.compose(*body_P_sensor_).range(t2, H1, H2);
}
return (Vector(1) << hx - measured_).finished();
} else {
hx = t1.range(t2, H1, H2);
}
return (Vector(1) << hx - measured_).finished();
}
/** return the measured */
double measured() const {
return measured_;
}
/** return the measured */
double measured() const {
return measured_;
}
/** equals specialized to this factor */
virtual bool equals(const NonlinearFactor& expected, double tol=1e-9) const {
const This *e = dynamic_cast<const This*> (&expected);
return e != NULL
&& Base::equals(*e, tol)
&& fabs(this->measured_ - e->measured_) < tol
&& ((!body_P_sensor_ && !e->body_P_sensor_) || (body_P_sensor_ && e->body_P_sensor_ && body_P_sensor_->equals(*e->body_P_sensor_)));
}
/** equals specialized to this factor */
virtual bool equals(const NonlinearFactor& expected,
double tol = 1e-9) const {
const This *e = dynamic_cast<const This*>(&expected);
return e != NULL && Base::equals(*e, tol)
&& fabs(this->measured_ - e->measured_) < tol
&& ((!body_P_sensor_ && !e->body_P_sensor_)
|| (body_P_sensor_ && e->body_P_sensor_
&& body_P_sensor_->equals(*e->body_P_sensor_)));
}
/** print contents */
void print(const std::string& s="", const KeyFormatter& keyFormatter = DefaultKeyFormatter) const {
std::cout << s << "RangeFactor, range = " << measured_ << std::endl;
if(this->body_P_sensor_)
this->body_P_sensor_->print(" sensor pose in body frame: ");
Base::print("", keyFormatter);
}
/** print contents */
void print(const std::string& s = "", const KeyFormatter& keyFormatter =
DefaultKeyFormatter) const {
std::cout << s << "RangeFactor, range = " << measured_ << std::endl;
if (this->body_P_sensor_)
this->body_P_sensor_->print(" sensor pose in body frame: ");
Base::print("", keyFormatter);
}
private:
private:
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar & boost::serialization::make_nvp("NoiseModelFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(measured_);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
}
}; // RangeFactor
/** Serialization function */
friend class boost::serialization::access;
template<class ARCHIVE>
void serialize(ARCHIVE & ar, const unsigned int version) {
ar
& boost::serialization::make_nvp("NoiseModelFactor2",
boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(measured_);
ar & BOOST_SERIALIZATION_NVP(body_P_sensor_);
}
};
// RangeFactor
} // namespace gtsam
}// namespace gtsam